+ python -m lidar_slam /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.1 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters 0.09793233061950092 Centerline is valid? [0, True] SLAMing on 0.06439141799999999 meters 0.11009058725545941 Centerline is valid? [True, False] Translation: X:0.02, Y:0.01, Z:0.00 [[ 9.99979946e-01 6.10538710e-03 1.68260362e-03 2.18523313e-02] [-6.10704176e-03 9.99980872e-01 9.80015222e-04 8.29264025e-03] [-1.67658806e-03 -9.90271300e-04 9.99998104e-01 2.48646683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999998 meters 0.11819517983036816 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:0.00 [[ 0.99994964 0.00988553 0.00172932 0.02183843] [-0.00989299 0.99994157 0.0043561 0.01096883] [-0.00168616 -0.00437299 0.99998902 0.0026737 ] [ 0. 0. 0. 1. ]] SLAMing on 0.18439141799999997 meters 0.12446259631703083 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.01 [[ 9.99853503e-01 1.61802371e-02 -5.58327194e-03 1.17048572e-02] [-1.61844522e-02 9.99868771e-01 -7.10593518e-04 1.60086529e-02] [ 5.57104168e-03 8.00851616e-04 9.99984161e-01 6.30287697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24439141799999997 meters 0.12902665090457854 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.01 [[ 9.99836913e-01 1.71915030e-02 -5.53177359e-03 1.31737372e-02] [-1.71947747e-02 9.99852011e-01 -5.44430004e-04 1.89711236e-02] [ 5.52159538e-03 6.39458815e-04 9.99984551e-01 5.05935122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3043914179999999 meters 0.1379328850965653 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99828110e-01 1.77399056e-02 -5.38954181e-03 1.35464252e-02] [-1.77453634e-02 9.99842071e-01 -9.66527342e-04 2.27006394e-02] [ 5.37154455e-03 1.06200058e-03 9.99985009e-01 4.90625150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3643914179999999 meters 0.1409746427816846 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 0.99983367 0.01742285 -0.005392 0.01381375] [-0.01742946 0.9998474 -0.00117986 0.02278525] [ 0.00537062 0.00127364 0.99998477 0.00461415] [ 0. 0. 0. 1. ]] SLAMing on 0.4243914179999999 meters 0.1575146307286431 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:0.00 [[ 9.99925424e-01 1.21321479e-02 1.39874500e-03 2.68427556e-02] [-1.21363298e-02 9.99921788e-01 3.02108050e-03 2.25679411e-02] [-1.36198340e-03 -3.03783083e-03 9.99994458e-01 8.39048763e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4843914179999999 meters 0.16283942339340204 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:0.00 [[ 0.99992547 0.01210761 0.00156743 0.02571932] [-0.01211163 0.99992333 0.0025784 0.02369086] [-0.00153609 -0.00259719 0.99999545 0.00205513] [ 0. 0. 0. 1. ]] SLAMing on 0.5443914179999999 meters 0.16823886062954685 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.00 [[ 0.99984633 0.01741354 0.00202074 0.024495 ] [-0.01742729 0.99982362 0.00700145 0.02385774] [-0.00189846 -0.00703559 0.99997345 0.00321694] [ 0. 0. 0. 1. ]] SLAMing on 0.6043914179999998 meters 0.1760369320988597 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.00 [[ 0.99967455 0.0254007 0.00236518 0.02378142] [-0.02543299 0.99956688 0.01480622 0.02466069] [-0.00198806 -0.01486156 0.99988758 0.00383974] [ 0. 0. 0. 1. ]] SLAMing on 0.6643914179999999 meters 0.17750410699498276 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 0.9996565 0.02609624 0.00242343 0.0248363 ] [-0.02612943 0.99954819 0.01485511 0.02591933] [-0.00203467 -0.01491333 0.99988672 0.00308533] [ 0. 0. 0. 1. ]] SLAMing on 0.7243914179999998 meters 0.1819794039470589 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:0.01 [[ 0.99973307 0.02300653 0.00211677 0.05352333] [-0.02301986 0.99971383 0.00650747 0.03438015] [-0.00196645 -0.00655446 0.99997659 0.00527212] [ 0. 0. 0. 1. ]] SLAMing on 0.7843914179999999 meters 0.18439931242875063 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:0.01 [[ 0.99982622 0.01851064 0.00220939 0.05182901] [-0.01851429 0.99982725 0.00164122 0.03715639] [-0.00217863 -0.00168184 0.99999621 0.0069903 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8443914179999998 meters 0.18451484736830676 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:0.01 [[ 9.99960507e-01 8.88035966e-03 -3.52474617e-04 7.87476850e-02] [-8.87843953e-03 9.99947482e-01 5.11920836e-03 3.86235554e-02] [ 3.97916517e-04 -5.11587676e-03 9.99986835e-01 8.36832908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043914179999999 meters 0.1842261564029081 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:0.01 [[ 9.99996105e-01 2.78430510e-03 -1.91481740e-04 7.49386553e-02] [-2.78444633e-03 9.99995849e-01 -7.41317608e-04 4.16408359e-02] [ 1.89416891e-04 7.41847891e-04 9.99999707e-01 1.19876384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9643914179999998 meters 0.17995875515622203 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:0.01 [[ 9.99999231e-01 1.23760537e-03 7.67556781e-05 7.22175108e-02] [-1.23742612e-03 9.99996606e-01 -2.29298068e-03 4.48627796e-02] [-7.95932228e-05 2.29288394e-03 9.99997368e-01 1.43539571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0243914179999998 meters 0.17903722692544435 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:0.01 [[ 9.99992814e-01 3.79036233e-03 7.39551969e-05 7.33537484e-02] [-3.79038159e-03 9.99992782e-01 2.62047469e-04 4.84315126e-02] [-7.29614082e-05 -2.62325904e-04 9.99999963e-01 1.36333126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0843914179999998 meters 0.17676565017799878 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:0.01 [[ 9.99925923e-01 1.21691812e-02 2.42707130e-04 7.41772616e-02] [-1.21706886e-02 9.99896335e-01 7.69373413e-03 5.24470088e-02] [-1.49055525e-04 -7.69611811e-03 9.99970373e-01 1.31622205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1443914179999999 meters 0.1735124676093496 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:0.01 [[ 9.99804083e-01 1.97863132e-02 5.45751341e-04 7.58669299e-02] [-1.97922004e-02 9.99695971e-01 1.47049195e-02 5.50077730e-02] [-2.54629273e-04 -1.47128402e-02 9.99891728e-01 1.13938595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2043914179999997 meters 0.19169643951863702 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:0.01 [[ 9.99721565e-01 2.35871082e-02 6.64193410e-04 7.61450746e-02] [-2.35953058e-02 9.99554801e-01 1.82609185e-02 5.65874127e-02] [-2.33175451e-04 -1.82715059e-02 9.99833035e-01 1.11453099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2643914179999998 meters 0.1667626460429073 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:0.01 [[ 9.99816557e-01 1.91295530e-02 9.55481026e-04 7.31454266e-02] [-1.91405883e-02 9.99728091e-01 1.33184770e-02 5.71688479e-02] [-7.00444709e-04 -1.33343223e-02 9.99910849e-01 1.41386102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3243914179999998 meters 0.1627595898848183 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:0.01 [[ 9.99917783e-01 1.28175018e-02 3.72078261e-04 7.53706047e-02] [-1.28199120e-02 9.99890251e-01 7.42541214e-03 6.09766326e-02] [-2.76862192e-04 -7.42957165e-03 9.99972362e-01 1.30221581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3843914179999999 meters 0.1589953379533763 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:0.01 [[ 9.99965753e-01 8.27437329e-03 1.63415526e-04 7.54521551e-02] [-8.27478235e-03 9.99962158e-01 2.68508770e-03 6.32583975e-02] [-1.41191924e-04 -2.68634797e-03 9.99996382e-01 1.36189158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4443914179999997 meters 0.1586053516142524 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 9.99988325e-01 4.82833937e-03 1.93115323e-04 9.66549175e-02] [-4.82888030e-03 9.99984118e-01 2.90619436e-03 6.46249965e-02] [-1.79080164e-04 -2.90709296e-03 9.99995758e-01 1.20242314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5043914179999998 meters 0.1517961741564899 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.01 [[ 9.99966510e-01 8.17554754e-03 3.73570831e-04 9.54290936e-02] [-8.17770526e-03 9.99947375e-01 6.19449221e-03 6.56724239e-02] [-3.22907806e-04 -6.19733971e-03 9.99980744e-01 1.31344001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5643914179999998 meters 0.14762652080361702 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:0.01 [[ 9.99964416e-01 8.41450648e-03 6.02831008e-04 9.46224340e-02] [-8.41769907e-03 9.99949416e-01 5.50516194e-03 6.86884630e-02] [-5.56477294e-04 -5.51004049e-03 9.99984665e-01 1.40834871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243914179999996 meters 0.14412329164294 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.01 [[ 9.99959435e-01 8.99834090e-03 3.97855962e-04 9.65279509e-02] [-9.00035681e-03 9.99944945e-01 5.39446266e-03 7.20978846e-02] [-3.49292844e-04 -5.39782468e-03 9.99985371e-01 1.29529386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6843914179999997 meters 0.14607643818683075 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.01 [[ 9.99966138e-01 8.21096645e-03 5.51229832e-04 9.56076523e-02] [-8.21327691e-03 9.99956900e-01 4.32890695e-03 7.42365552e-02] [-5.15661564e-04 -4.33328776e-03 9.99990478e-01 1.37568872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7443914179999997 meters 0.1360980563335416 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99976989e-01 6.73855714e-03 7.82620243e-04 9.35664778e-02] [-6.74050171e-03 9.99974134e-01 2.50921827e-03 7.77589868e-02] [-7.65691489e-04 -2.51443578e-03 9.99996546e-01 1.57857519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8043914179999998 meters 0.13627179490057933 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99997800e-01 1.94906752e-03 7.75464821e-04 9.29215020e-02] [-1.94706942e-03 9.99994804e-01 -2.56911408e-03 8.09090041e-02] [-7.80468169e-04 2.56759855e-03 9.99996399e-01 1.68763587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643914179999996 meters 0.13253109420172657 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99999358e-01 7.20443699e-04 8.74841928e-04 9.18048957e-02] [-7.17611561e-04 9.99994515e-01 -3.23332324e-03 8.03751915e-02] [-8.77166557e-04 3.23269336e-03 9.99994390e-01 1.75433490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9243914179999997 meters 0.12779847001822242 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99999630e-01 -3.49999169e-04 7.85851349e-04 9.17057188e-02] [ 3.53005467e-04 9.99992608e-01 -3.82865676e-03 8.10845334e-02] [-7.84505514e-04 3.82893275e-03 9.99992362e-01 1.76561683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9843914179999997 meters 0.12445952798525509 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99995380e-01 2.93933468e-03 7.74413576e-04 9.13294484e-02] [-2.93903436e-03 9.99995606e-01 -3.88658280e-04 8.23221203e-02] [-7.75552570e-04 3.86380456e-04 9.99999625e-01 1.81009189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0443914179999996 meters 0.12401416551341872 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99995285e-01 2.99223473e-03 6.90526389e-04 9.16931169e-02] [-2.99164043e-03 9.99995155e-01 -8.60076917e-04 8.42458504e-02] [-6.93096595e-04 8.58007055e-04 9.99999392e-01 1.81989357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1043914179999996 meters 0.12083604425041411 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 9.99997417e-01 2.18118906e-03 6.38561255e-04 9.19177033e-02] [-2.18029477e-03 9.99996646e-01 -1.39784310e-03 8.43769713e-02] [-6.41608073e-04 1.39644724e-03 9.99998819e-01 1.77696641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1643914179999997 meters 0.11799810279476161 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:0.02 [[ 9.99997465e-01 -1.40402148e-03 -1.76024111e-03 1.14213892e-01] [ 1.40368469e-03 9.99998996e-01 -1.92552546e-04 8.64596877e-02] [ 1.76050969e-03 1.90081234e-04 9.99998432e-01 1.59704737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243914179999997 meters 0.11390506797523145 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:0.02 [[ 9.99998601e-01 -1.67209454e-03 -4.87189965e-05 9.10407700e-02] [ 1.67191848e-03 9.99992775e-01 -3.41388662e-03 8.54656431e-02] [ 5.44269856e-05 3.41380039e-03 9.99994171e-01 1.92909279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters 0.10919748689925485 Centerline is valid? [False, False] Translation: X:0.10, Y:0.08, Z:0.02 [[ 0.99995731 -0.00588464 0.00712382 0.10147797] [ 0.00587181 0.9999811 0.00182026 0.08389824] [-0.00713439 -0.00177835 0.99997297 0.0182836 ] [ 0. 0. 0. 1. ]] SLAMing on 2.344391418 meters 0.10668350809251095 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:0.02 [[ 0.99994812 -0.0050995 0.00881765 0.08534011] [ 0.0051502 0.99997028 -0.00573734 0.08398253] [-0.00878813 0.00578245 0.99994466 0.0232754 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4043914179999994 meters 0.10204186430250323 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:0.02 [[ 0.99991648 -0.00946272 0.00880244 0.08509482] [ 0.0095522 0.99990256 -0.01017957 0.08522692] [-0.00870525 0.0102628 0.99990944 0.02386732] [ 0. 0. 0. 1. ]] SLAMing on 2.4643914179999995 meters 0.0984817123806218 Centerline is valid? [False, True] Translation: X:0.09, Y:0.08, Z:0.02 [[ 0.99991025 -0.01025669 0.00861911 0.08592806] [ 0.01034433 0.99989462 -0.01018509 0.08426243] [-0.00851374 0.01027333 0.99991098 0.02277529] [ 0. 0. 0. 1. ]] SLAMing on 2.5243914179999996 meters 0.09578186102588854 Centerline is valid? [True, True] Translation: X:0.15, Y:0.09, Z:0.01 [[ 9.99940205e-01 -9.46193948e-03 5.48255633e-03 1.46013828e-01] [ 9.46027432e-03 9.99955196e-01 3.29573427e-04 9.12084633e-02] [-5.48542910e-03 -2.77687233e-04 9.99984916e-01 1.39405370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5843914179999996 meters 0.09434051293307742 Centerline is valid? [True, True] Translation: X:0.21, Y:0.08, Z:0.02 [[ 9.99987818e-01 -3.63855748e-03 3.33528466e-03 2.05884376e-01] [ 3.63790881e-03 9.99993363e-01 2.00534565e-04 8.37855772e-02] [-3.33599218e-03 -1.88398661e-04 9.99994418e-01 1.81801194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters 0.09133546955310003 Centerline is valid? [True, True] Translation: X:0.27, Y:0.09, Z:0.02 [[ 9.99979616e-01 3.30337466e-03 5.46402828e-03 2.65642751e-01] [-3.30521594e-03 9.99994484e-01 3.27987121e-04 9.38969034e-02] [-5.46291468e-03 -3.46040229e-04 9.99985018e-01 1.59215256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters 0.0896884082937893 Centerline is valid? [True, True] Translation: X:0.33, Y:0.11, Z:0.01 [[ 9.99954509e-01 5.10866751e-03 8.05484294e-03 3.26430942e-01] [-5.11272994e-03 9.99986813e-01 4.83835387e-04 1.09375889e-01] [-8.05226497e-03 -5.24995614e-04 9.99967442e-01 1.46128513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters 0.08806252110781246 Centerline is valid? [True, True] Translation: X:0.39, Y:0.11, Z:0.02 [[ 9.99952556e-01 3.06611201e-03 9.24578844e-03 3.86189787e-01] [-3.07136980e-03 9.99995130e-01 5.54522766e-04 1.05432263e-01] [-9.24404319e-03 -5.82893693e-04 9.99957103e-01 1.65425278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8243914179999994 meters 0.08631744525515259 Centerline is valid? [True, True] Translation: X:0.45, Y:0.11, Z:0.01 [[ 9.99963961e-01 1.13525898e-03 8.41355829e-03 4.47168725e-01] [-1.13954742e-03 9.99999223e-01 5.04929461e-04 1.11304218e-01] [-8.41297853e-03 -5.14498912e-04 9.99964478e-01 1.24044765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8843914179999994 meters 0.08340495040095193 Centerline is valid? [True, True] Translation: X:0.51, Y:0.11, Z:0.01 [[ 9.99976686e-01 9.03320261e-04 6.76835353e-03 5.08314878e-01] [-9.06096807e-04 9.99999507e-01 4.07169530e-04 1.07364987e-01] [-6.76798238e-03 -4.13292821e-04 9.99977012e-01 1.17415161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443914179999995 meters 0.08243850367012703 Centerline is valid? [True, True] Translation: X:0.57, Y:0.11, Z:0.01 [[ 9.99968650e-01 3.86722215e-03 6.90968330e-03 5.69497344e-01] [-3.87017658e-03 9.99992425e-01 4.14259255e-04 1.10651196e-01] [-6.90802893e-03 -4.40987963e-04 9.99976042e-01 1.03692806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043914179999995 meters 0.081051495278536 Centerline is valid? [True, True] Translation: X:0.63, Y:0.11, Z:0.01 [[ 9.99936593e-01 7.90217360e-03 8.02282181e-03 6.30531999e-01] [-7.90628414e-03 9.99968629e-01 4.80769015e-04 1.07492457e-01] [-8.01877101e-03 -5.44169240e-04 9.99967701e-01 1.09254165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0643914179999996 meters 0.0801176971553111 Centerline is valid? [True, True] Translation: X:0.69, Y:0.10, Z:0.01 [[ 9.99915963e-01 9.08661610e-03 9.24661506e-03 6.91661168e-01] [-9.09212657e-03 9.99958512e-01 5.54082629e-04 1.03412989e-01] [-9.24119670e-03 -6.38107460e-04 9.99957096e-01 1.21485923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1243914179999996 meters 0.07869995334120533 Centerline is valid? [True, True] Translation: X:0.75, Y:0.11, Z:0.01 [[ 9.99907057e-01 8.26233936e-03 1.08448628e-02 7.52007093e-01] [-8.26986759e-03 9.99965593e-01 6.49513656e-04 1.05819523e-01] [-1.08391232e-02 -7.39138868e-04 9.99940982e-01 1.04016057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters 0.07720144147732734 Centerline is valid? [True, True] Translation: X:0.81, Y:0.11, Z:0.01 [[ 9.99896815e-01 6.25236398e-03 1.29331923e-02 8.11772487e-01] [-6.26289864e-03 9.99980088e-01 7.74203390e-04 1.06423005e-01] [-1.29280942e-02 -8.55122777e-04 9.99916063e-01 7.43850796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999993 meters 0.0746315020279962 Centerline is valid? [True, True] Translation: X:0.87, Y:0.12, Z:0.01 [[ 9.99910783e-01 1.06403648e-04 1.33572020e-02 8.72465348e-01] [-1.17099460e-04 9.99999673e-01 7.99972854e-04 1.16168032e-01] [-1.33571126e-02 -8.01465604e-04 9.99910469e-01 5.66668432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3043914179999994 meters 0.07407359838492134 Centerline is valid? [True, True] Translation: X:0.93, Y:0.12, Z:0.00 [[ 9.99911383e-01 -5.58522449e-03 1.20843530e-02 9.31865363e-01] [ 5.57688894e-03 9.99984187e-01 7.23369298e-04 1.15735229e-01] [-1.20882021e-02 -6.55912101e-04 9.99926720e-01 2.01876510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3643914179999994 meters 0.07255344865456054 Centerline is valid? [True, True] Translation: X:0.99, Y:0.11, Z:-0.00 [[ 9.99834244e-01 -1.48454967e-02 1.05401792e-02 9.93029442e-01] [ 1.48396682e-02 9.99889687e-01 6.30980700e-04 1.10245354e-01] [-1.05483837e-02 -4.74463350e-04 9.99944252e-01 -4.12186762e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243914179999995 meters 0.07218528376053233 Centerline is valid? [True, True] Translation: X:1.05, Y:0.10, Z:0.00 [[ 9.99667996e-01 -2.34949761e-02 1.05775579e-02 1.05492364e+00] [ 2.34895894e-02 9.99723881e-01 6.33220587e-04 9.81498087e-02] [-1.05895148e-02 -3.84547863e-04 9.99943856e-01 1.55760602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4843914179999995 meters 0.07143217392083673 Centerline is valid? [True, True] Translation: X:1.11, Y:0.10, Z:-0.00 [[ 9.99545405e-01 -2.69046446e-02 1.36059798e-02 1.11444251e+00] [ 2.68960502e-02 9.99637904e-01 8.14279424e-04 1.04444156e-01] [-1.36229610e-02 -4.47962142e-04 9.99907103e-01 -1.54206994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443914179999996 meters 0.06991414862740976 Centerline is valid? [True, True] Translation: X:1.18, Y:0.11, Z:-0.00 [[ 9.99526316e-01 -2.61531801e-02 1.62220741e-02 1.17706322e+00] [ 2.61408525e-02 9.99657797e-01 9.71544223e-04 1.13996281e-01] [-1.62419318e-02 -5.47025172e-04 9.99867941e-01 -3.45901102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters 0.06888797596923295 Centerline is valid? [True, True] Translation: X:1.24, Y:0.11, Z:-0.00 [[ 9.99578538e-01 -2.35379544e-02 1.69915127e-02 1.23850112e+00] [ 2.35240761e-02 9.99722754e-01 1.01621314e-03 1.13152415e-01] [-1.70107215e-02 -6.16075207e-04 9.99855117e-01 -3.90289106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999992 meters 0.06814533319799672 Centerline is valid? [True, True] Translation: X:1.30, Y:0.12, Z:-0.01 [[ 9.99668027e-01 -2.00613517e-02 1.61671611e-02 1.29902040e+00] [ 2.00483399e-02 9.99798545e-01 9.66516725e-04 1.16925343e-01] [-1.61832938e-02 -6.42071128e-04 9.99868836e-01 -6.68256332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999993 meters 0.06854238111162127 Centerline is valid? [True, True] Translation: X:1.36, Y:0.13, Z:-0.01 [[ 9.99802175e-01 -1.11097167e-02 1.64980407e-02 1.35824486e+00] [ 1.10949508e-02 9.99937963e-01 9.86267920e-04 1.27317387e-01] [-1.65079744e-02 -8.03027862e-04 9.99863412e-01 -8.27417324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7843914179999993 meters 0.06808411175472301 Centerline is valid? [True, True] Translation: X:1.42, Y:0.13, Z:-0.01 [[ 9.99858177e-01 3.21647234e-03 1.65311918e-02 1.41761408e+00] [-3.23325005e-03 9.99994285e-01 9.88285953e-04 1.28124703e-01] [-1.65279186e-02 -1.04159527e-03 9.99862862e-01 -9.39567110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8443914179999994 meters 0.0681189807612486 Centerline is valid? [True, True] Translation: X:1.48, Y:0.13, Z:-0.01 [[ 9.99693466e-01 1.75748143e-02 1.74384372e-02 1.47779901e+00] [-1.75956537e-02 9.99844641e-01 1.04230219e-03 1.34020920e-01] [-1.74174097e-02 -1.34882339e-03 9.99847396e-01 -1.04038874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043914179999994 meters 0.06901333595354586 Centerline is valid? [True, True] Translation: X:1.54, Y:0.15, Z:-0.01 [[ 9.99491572e-01 2.58485382e-02 1.86668297e-02 1.53747448e+00] [-2.58738492e-02 9.99664593e-01 1.11565346e-03 1.47662370e-01] [-1.86317308e-02 -1.59806897e-03 9.99825137e-01 -1.20746360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643914179999995 meters 0.08724256699211645 Centerline is valid? [True, True] Translation: X:1.60, Y:0.07, Z:-0.01 [[ 9.99215766e-01 3.37925695e-02 2.06376936e-02 1.60239973e+00] [-3.38251864e-02 9.99427004e-01 1.23332791e-03 7.31457520e-02] [-2.05841909e-02 -1.93043453e-03 9.99786259e-01 -8.55907049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243914179999996 meters 0.08041752857531913 Centerline is valid? [True, True] Translation: X:1.66, Y:0.08, Z:-0.01 [[ 9.99011011e-01 3.87801842e-02 2.17507785e-02 1.66074322e+00] [-3.88175860e-02 9.99245468e-01 1.29984222e-03 8.48029234e-02] [-2.16839587e-02 -2.14286940e-03 9.99762579e-01 -1.20873681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391417999999 meters 0.0855664389490331 Centerline is valid? [True, True] Translation: X:1.72, Y:0.07, Z:-0.01 [[ 9.98992131e-01 3.94714289e-02 2.13712026e-02 1.72174696e+00] [-3.95076925e-02 9.99218450e-01 1.27713532e-03 7.00689514e-02] [-2.13040896e-02 -2.12017503e-03 9.99770794e-01 -1.45395665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters 0.08174205478401239 Centerline is valid? [True, True] Translation: X:1.78, Y:0.07, Z:-0.02 [[ 9.98998385e-01 3.84347971e-02 2.29127355e-02 1.78073198e+00] [-3.84762167e-02 9.99258578e-01 1.36943837e-03 7.09458585e-02] [-2.28431134e-02 -2.24966210e-03 9.99736531e-01 -1.66143252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391417999999 meters 0.07940189926656303 Centerline is valid? [True, True] Translation: X:1.84, Y:0.07, Z:-0.02 [[ 9.98939958e-01 3.89108755e-02 2.45948141e-02 1.84227007e+00] [-3.89587499e-02 9.99239738e-01 1.47018527e-03 6.74610827e-02] [-2.45189094e-02 -2.42681003e-03 9.99696421e-01 -1.82878338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters 0.07834290926405028 Centerline is valid? [True, True] Translation: X:1.90, Y:0.07, Z:-0.02 [[ 9.98854070e-01 4.07366170e-02 2.51211893e-02 1.90206935e+00] [-4.07871262e-02 9.99166731e-01 1.50130796e-03 6.67719590e-02] [-2.50390984e-02 -2.52420869e-03 9.99683286e-01 -2.05783345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391417999999 meters 0.07459833674061071 Centerline is valid? [True, True] Translation: X:1.96, Y:0.07, Z:-0.02 [[ 9.98753077e-01 4.35242247e-02 2.44526502e-02 1.96136031e+00] [-4.35729106e-02 9.99049181e-01 1.46149797e-03 6.58447789e-02] [-2.43657896e-02 -2.52514873e-03 9.99699921e-01 -2.32663774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391417999999 meters 0.0766532549551698 Centerline is valid? [True, True] Translation: X:2.02, Y:0.05, Z:-0.03 [[ 9.98604077e-01 4.68727298e-02 2.43484120e-02 2.02345998e+00] [-4.69219925e-02 9.98897496e-01 1.45555996e-03 4.54789774e-02] [-2.42533417e-02 -2.59600412e-03 9.99702474e-01 -2.64012597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4443914179999995 meters 0.07612422078282259 Centerline is valid? [True, True] Translation: X:2.08, Y:0.04, Z:-0.03 [[ 9.98508268e-01 4.94670831e-02 2.31137779e-02 2.08343854e+00] [-4.95121614e-02 9.98772565e-01 1.38172958e-03 4.22108844e-02] [-2.30170571e-02 -2.52408151e-03 9.99731886e-01 -2.67107480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391417999999 meters 0.0748881390007343 Centerline is valid? [True, True] Translation: X:2.14, Y:0.03, Z:-0.03 [[ 9.98389547e-01 5.18503357e-02 2.30185838e-02 2.14378543e+00] [-5.18956716e-02 9.98651564e-01 1.37615571e-03 3.34350856e-02] [-2.29161905e-02 -2.56850434e-03 9.99734090e-01 -2.77721902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters 0.07277695188276874 Centerline is valid? [True, True] Translation: X:2.21, Y:0.02, Z:-0.03 [[ 9.98547613e-01 4.85162845e-02 2.34272084e-02 2.20544284e+00] [-4.85623411e-02 9.98819171e-01 1.40070938e-03 2.15871180e-02] [-2.33315877e-02 -2.53635510e-03 9.99724564e-01 -3.14594417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391417999999 meters 0.07164922009216493 Centerline is valid? [True, True] Translation: X:2.27, Y:0.02, Z:-0.03 [[ 9.98648431e-01 4.59563680e-02 2.42760029e-02 2.26689123e+00] [-4.60050723e-02 9.98940152e-01 1.45130815e-03 1.63233930e-02] [-2.41835772e-02 -2.56616588e-03 9.99704241e-01 -3.30992281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters 0.07014871479703534 Centerline is valid? [True, True] Translation: X:2.33, Y:0.01, Z:-0.03 [[ 9.98618523e-01 4.61582626e-02 2.51089811e-02 2.32823291e+00] [-4.62104274e-02 9.98930600e-01 1.50096590e-03 6.07692109e-03] [-2.50128476e-02 -2.65918910e-03 9.99683593e-01 -3.46627835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391417999999 meters 0.07704155270837663 Centerline is valid? [True, True] Translation: X:2.38, Y:0.08, Z:-0.04 [[ 9.98504437e-01 4.89062264e-02 2.44350203e-02 2.38390313e+00] [-4.89564327e-02 9.98799847e-01 1.46035842e-03 8.14788643e-02] [-2.43342739e-02 -2.65442578e-03 9.99700354e-01 -3.53466236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804391417999999 meters 0.08013812964010901 Centerline is valid? [True, True] Translation: X:2.44, Y:0.08, Z:-0.04 [[ 9.98418110e-01 5.01178011e-02 2.54849616e-02 2.44476088e+00] [-5.01728057e-02 9.98739390e-01 1.52308544e-03 8.07072088e-02] [-2.53765013e-02 -2.79932811e-03 9.99674045e-01 -3.51369325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters 0.08225488717552103 Centerline is valid? [True, True] Translation: X:2.51, Y:0.07, Z:-0.03 [[ 9.98430892e-01 4.81745768e-02 2.85475831e-02 2.50624236e+00] [-4.82428198e-02 9.98834180e-01 1.70619028e-03 7.33521410e-02] [-2.84321068e-02 -3.08072899e-03 9.99590979e-01 -3.20650855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391417999999 meters 0.06729880941867063 Centerline is valid? [True, True] Translation: X:2.57, Y:0.02, Z:-0.04 [[ 9.98853476e-01 4.11672342e-02 2.44334212e-02 2.56943600e+00] [-4.12151461e-02 9.99149228e-01 1.46036564e-03 1.75505607e-02] [-2.43525147e-02 -2.46571832e-03 9.99700393e-01 -3.67060808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters 0.08546779606849814 Centerline is valid? [True, True] Translation: X:2.63, Y:0.06, Z:-0.04 [[ 9.99103554e-01 3.42295725e-02 2.49083376e-02 2.62827292e+00] [-3.42772303e-02 9.99411254e-01 1.48876305e-03 5.74223262e-02] [-2.48427132e-02 -2.34121727e-03 9.99688631e-01 -3.84328686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391417999999 meters 0.07625937653000438 Centerline is valid? [True, True] Translation: X:2.69, Y:0.04, Z:-0.04 [[ 9.99347950e-01 2.78649828e-02 2.29612133e-02 2.69068843e+00] [-2.79038116e-02 9.99609671e-01 1.37234398e-03 3.50609157e-02] [-2.29140105e-02 -2.01215452e-03 9.99735415e-01 -4.16125257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters 0.0752990984230338 Centerline is valid? [True, True] Translation: X:2.75, Y:0.03, Z:-0.04 [[ 9.99553450e-01 2.10216167e-02 2.12365586e-02 2.75171888e+00] [-2.10532946e-02 9.99777549e-01 1.26917133e-03 3.03844767e-02] [-2.12051545e-02 -1.71570410e-03 9.99773673e-01 -4.36801050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391417999999 meters 0.07495621069653145 Centerline is valid? [True, True] Translation: X:2.81, Y:0.02, Z:-0.04 [[ 9.99638804e-01 1.27442113e-02 2.36610647e-02 2.81333037e+00] [-1.27812308e-02 9.99917317e-01 1.41399817e-03 2.25194720e-02] [-2.36410881e-02 -1.71590497e-03 9.99719038e-01 -4.36196193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391417999999 meters 0.06768938964593933 Centerline is valid? [True, True] Translation: X:2.88, Y:0.00, Z:-0.05 [[ 9.99653418e-01 9.34680551e-03 2.46105898e-02 2.87545226e+00] [-9.38583245e-03 9.99954871e-01 1.47074081e-03 3.90806358e-03] [-2.45957324e-02 -1.70122195e-03 9.99696032e-01 -4.61780341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters 0.0697710445588394 Centerline is valid? [True, True] Translation: X:2.94, Y:0.01, Z:-0.05 [[ 9.99741682e-01 1.26387876e-02 1.88899325e-02 2.93542681e+00] [-1.26623615e-02 9.99919192e-01 1.12887415e-03 1.22031202e-02] [-1.88741384e-02 -1.36777370e-03 9.99820932e-01 -4.99896122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391417999999 meters 0.07135591021228999 Centerline is valid? [True, True] Translation: X:3.00, Y:0.02, Z:-0.05 [[ 9.99729601e-01 1.56080909e-02 1.72369658e-02 2.99564746e+00] [-1.56281548e-02 9.99877343e-01 1.02990840e-03 1.92312680e-02] [-1.72187766e-02 -1.29901188e-03 9.99850902e-01 -5.15939440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters 0.07434940422333736 Centerline is valid? [True, True] Translation: X:3.06, Y:0.03, Z:-0.05 [[ 9.99642776e-01 1.90320873e-02 1.87643537e-02 3.05583699e+00] [-1.90564638e-02 9.99817781e-01 1.12111756e-03 3.18191117e-02] [-1.87395973e-02 -1.47829930e-03 9.99823305e-01 -5.01526034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391417999999 meters 0.07799148203313741 Centerline is valid? [True, True] Translation: X:3.12, Y:0.04, Z:-0.05 [[ 9.99549720e-01 2.26223493e-02 1.97126144e-02 3.11564838e+00] [-2.26499453e-02 9.99742763e-01 1.17774966e-03 4.21205203e-02] [-1.96809001e-02 -1.62370898e-03 9.99804994e-01 -4.98163007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters 0.08251645984434801 Centerline is valid? [True, True] Translation: X:3.18, Y:0.06, Z:-0.05 [[ 9.99405249e-01 2.65594380e-02 2.19942029e-02 3.17567933e+00] [-2.65947432e-02 9.99645433e-01 1.31421089e-03 5.56693551e-02] [-2.19514998e-02 -1.89835944e-03 9.99757234e-01 -4.79552733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391417999999 meters 0.0853244867320977 Centerline is valid? [True, True] Translation: X:3.24, Y:0.07, Z:-0.05 [[ 9.99397943e-01 2.75113959e-02 2.11394050e-02 3.23619094e+00] [-2.75442192e-02 9.99619788e-01 1.26305751e-03 6.74273499e-02] [-2.10966191e-02 -1.84456548e-03 9.99775740e-01 -5.01347569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391417999999 meters 0.08387709469237369 Centerline is valid? [True, True] Translation: X:3.30, Y:0.07, Z:-0.05 [[ 9.99604861e-01 2.01748655e-02 1.95728394e-02 3.29692266e+00] [-2.02016032e-02 9.99795243e-01 1.16928410e-03 7.01375729e-02] [-1.95452416e-02 -1.56422480e-03 9.99807750e-01 -5.33457328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391417999999 meters 0.08164033779148833 Centerline is valid? [True, True] Translation: X:3.36, Y:0.07, Z:-0.05 [[ 9.99724421e-01 1.31424184e-02 1.94514466e-02 3.35770975e+00] [-1.31675035e-02 9.99912629e-01 1.16210435e-03 6.97626738e-02] [-1.94344742e-02 -1.41791109e-03 9.99810127e-01 -5.49801264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391417999999 meters 0.0781431163862284 Centerline is valid? [True, True] Translation: X:3.42, Y:0.07, Z:-0.06 [[ 9.99788920e-01 5.08066628e-03 1.99073464e-02 3.41874875e+00] [-5.10534859e-03 9.99986260e-01 1.18923307e-03 6.87787495e-02] [-1.99010308e-02 -1.29061599e-03 9.99801122e-01 -5.50042252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters 0.07221075589058235 Centerline is valid? [True, True] Translation: X:3.48, Y:0.06, Z:-0.06 [[ 9.99779436e-01 3.69244950e-03 2.06747590e-02 3.48006995e+00] [-3.71877477e-03 9.99992323e-01 1.23500271e-03 6.35995581e-02] [-2.06700401e-02 -1.31161508e-03 9.99785492e-01 -5.59547209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391417999999 meters 0.08495123079649836 Centerline is valid? [True, True] Translation: X:3.54, Y:0.10, Z:-0.06 [[ 9.99752554e-01 1.04126154e-02 1.96572657e-02 3.53868897e+00] [-1.04377032e-02 9.99944836e-01 1.17408831e-03 9.77996713e-02] [-1.96439560e-02 -1.37897449e-03 9.99806088e-01 -5.91691668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters 0.09209888511508367 Centerline is valid? [True, True] Translation: X:3.60, Y:0.12, Z:-0.06 [[ 9.99640202e-01 1.87397543e-02 1.91908099e-02 3.59745084e+00] [-1.87651873e-02 9.99823262e-01 1.14603575e-03 1.21556513e-01] [-1.91659417e-02 -1.50574256e-03 9.99815183e-01 -6.03661959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391417999999 meters 0.08987103306573656 Centerline is valid? [True, True] Translation: X:3.66, Y:0.13, Z:-0.06 [[ 9.99248409e-01 3.30193295e-02 2.03061735e-02 3.65782441e+00] [-3.30507301e-02 9.99452940e-01 1.21261681e-03 1.30487911e-01] [-2.02550250e-02 -1.88283928e-03 9.99793073e-01 -6.12875920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391417999999 meters 0.1008636326580802 Centerline is valid? [True, False] Translation: X:3.65, Y:0.13, Z:-0.06 [[ 9.98943570e-01 4.33863887e-02 1.51448415e-02 3.64732140e+00] [-4.33752479e-02 9.99058285e-01 -1.06347681e-03 1.32285473e-01] [-1.51767198e-02 4.05442065e-04 9.99884745e-01 -5.69078188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391417999999 meters 0.1078396026782672 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:-0.06 [[ 9.98744028e-01 4.77080961e-02 1.53069855e-02 3.64746399e+00] [-4.77679208e-02 9.98852094e-01 3.56660569e-03 1.30654113e-01] [-1.51192586e-02 -4.29330900e-03 9.99876480e-01 -5.70105296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391417999999 meters 0.11318937309567877 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:-0.06 [[ 9.98849156e-01 4.54173325e-02 1.54152036e-02 3.64700508e+00] [-4.54277133e-02 9.98967576e-01 3.23746822e-04 1.31131092e-01] [-1.53845849e-02 -1.02365169e-03 9.99881126e-01 -5.66549902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391417999999 meters 0.11490349322826619 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:-0.06 [[ 9.99011790e-01 4.17906455e-02 1.51322556e-02 3.64709471e+00] [-4.17479862e-02 9.99123288e-01 -3.12423523e-03 1.28687506e-01] [-1.52495528e-02 2.48940663e-03 9.99880620e-01 -5.64445773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391417999999 meters 0.11166079296019354 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:-0.06 [[ 0.99930676 0.03414605 0.01483425 3.64635103] [-0.03399276 0.99936728 -0.01046564 0.12522913] [-0.01518222 0.00995413 0.99983519 -0.05555144] [ 0. 0. 0. 1. ]] SLAMing on 6.364391417999999 meters 0.1114133114068327 Centerline is valid? [False, False] Translation: X:3.65, Y:0.12, Z:-0.05 [[ 0.99943418 0.0302996 0.01460337 3.64577985] [-0.03010391 0.99945643 -0.0134389 0.11977479] [-0.01500262 0.01299168 0.99980305 -0.05468849] [ 0. 0. 0. 1. ]] SLAMing on 6.424391417999999 meters 0.1001436364258112 Centerline is valid? [False, False] Translation: X:3.65, Y:0.11, Z:-0.05 [[ 0.99938115 0.03200904 0.01458569 3.64510762] [-0.03185406 0.99943486 -0.01073653 0.11105308] [-0.01492112 0.01026527 0.99983598 -0.05408978] [ 0. 0. 0. 1. ]] SLAMing on 6.484391417999999 meters 0.1104404734959494 Centerline is valid? [False, False] Translation: X:3.65, Y:0.11, Z:-0.05 [[ 0.99920261 0.03716753 0.01458501 3.64593334] [-0.03709917 0.99929943 -0.00493023 0.1059216 ] [-0.01475803 0.00438521 0.99988148 -0.05483752] [ 0. 0. 0. 1. ]] SLAMing on 6.544391417999999 meters 0.114656085456693 Centerline is valid? [False, False] Translation: X:3.65, Y:0.10, Z:-0.06 [[ 9.98952622e-01 4.33465473e-02 1.46538382e-02 3.64679758e+00] [-4.33749096e-02 9.99057547e-01 1.62308568e-03 9.82363709e-02] [-1.45696725e-02 -2.25699460e-03 9.99891309e-01 -5.56443411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391417999999 meters 0.1262342359449811 Centerline is valid? [False, False] Translation: X:3.65, Y:0.09, Z:-0.06 [[ 9.98872873e-01 4.51395824e-02 1.46765414e-02 3.64683611e+00] [-4.51955372e-02 9.98972017e-01 3.50330505e-03 9.29003651e-02] [-1.45033164e-02 -4.16267056e-03 9.99886157e-01 -5.56573023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391417999999 meters 0.12810996113954304 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.05 [[ 9.98884544e-01 4.50128963e-02 1.42656019e-02 3.64684774e+00] [-4.50612180e-02 9.98979467e-01 3.08399651e-03 8.24439035e-02] [-1.41122238e-02 -3.72338185e-03 9.99893485e-01 -5.47433139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391417999999 meters 0.1209256829050527 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.05 [[ 9.99010259e-01 4.22199967e-02 1.39990703e-02 3.64670424e+00] [-4.22324826e-02 9.99107632e-01 5.97357559e-04 7.68411877e-02] [-1.39613576e-02 -1.18798182e-03 9.99901830e-01 -5.43017828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters 0.1340897002414473 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.05 [[ 9.99108145e-01 3.99598092e-02 1.36428916e-02 3.64685462e+00] [-3.99451271e-02 9.99200967e-01 -1.34708755e-03 6.70946610e-02] [-1.36858198e-02 8.00919103e-04 9.99906024e-01 -5.41175482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391417999999 meters 0.1361734719013841 Centerline is valid? [False, False] Translation: X:3.65, Y:0.06, Z:-0.06 [[ 0.99927499 0.03566011 0.01333614 3.6479575 ] [-0.03559047 0.99935174 -0.00542324 0.05524701] [-0.01352089 0.00494467 0.99989636 -0.05544956] [ 0. 0. 0. 1. ]] SLAMing on 6.904391417999999 meters 0.13301366222823638 Centerline is valid? [False, False] Translation: X:3.65, Y:0.05, Z:-0.06 [[ 0.99937341 0.03286872 0.01313119 3.64829876] [-0.03276316 0.99942971 -0.00817495 0.05217073] [-0.0133924 0.00773961 0.99988036 -0.05562426] [ 0. 0. 0. 1. ]] SLAMing on 6.964391417999999 meters 0.06235014161688566 Centerline is valid? [False, True] Translation: X:3.65, Y:0.04, Z:-0.05 [[ 0.99944385 0.03058551 0.01328623 3.64573492] [-0.03050132 0.99951363 -0.00649342 0.03551275] [-0.01347837 0.00608457 0.99989065 -0.05212984] [ 0. 0. 0. 1. ]] SLAMing on 7.024391417999999 meters 0.0618157672720474 Centerline is valid? [True, True] Translation: X:3.71, Y:0.02, Z:-0.05 [[ 9.99516577e-01 2.84919873e-02 1.24426287e-02 3.70717191e+00] [-2.85077823e-02 9.99592972e-01 1.09387935e-03 2.11067900e-02] [-1.24063974e-02 -1.44806230e-03 9.99921989e-01 -5.23019863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391417999999 meters 0.06378733869085937 Centerline is valid? [True, True] Translation: X:3.77, Y:0.03, Z:-0.05 [[ 9.99530296e-01 2.83503904e-02 1.16379641e-02 3.76943056e+00] [-2.83642002e-02 9.99597131e-01 1.02325143e-03 2.63304950e-02] [-1.16042660e-02 -1.35287235e-03 9.99931753e-01 -5.36659604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391417999999 meters 0.13342063102096743 Centerline is valid? [True, False] Translation: X:3.77, Y:0.02, Z:-0.06 [[ 9.99580282e-01 2.67054703e-02 1.12284387e-02 3.77146047e+00] [-2.66996441e-02 9.99643277e-01 -6.68483956e-04 1.52485858e-02] [-1.12422854e-02 3.68408064e-04 9.99936736e-01 -5.50368909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters 0.14049703588113244 Centerline is valid? [False, False] Translation: X:3.77, Y:0.01, Z:-0.05 [[ 9.99624375e-01 2.50163616e-02 1.11933282e-02 3.77105416e+00] [-2.49916215e-02 9.99684911e-01 -2.34471976e-03 8.57496553e-03] [-1.12484577e-02 2.06409960e-03 9.99934604e-01 -5.46041030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391417999999 meters 0.06138218263130882 Centerline is valid? [False, True] Translation: X:3.77, Y:-0.00, Z:-0.05 [[ 9.99651109e-01 2.37867108e-02 1.14826713e-02 3.76838642e+00] [-2.37476591e-02 9.99711769e-01 -3.52539780e-03 -3.57436668e-03] [-1.15632193e-02 3.25148126e-03 9.99927857e-01 -5.26359436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3243914179999985 meters 0.16874238882887857 Centerline is valid? [True, False] Translation: X:3.77, Y:-0.01, Z:-0.05 [[ 0.99968979 0.02213309 0.01142144 3.76816107] [-0.02208636 0.99974724 -0.00420161 -0.01438995] [-0.01151155 0.00394805 0.99992595 -0.05237042] [ 0. 0. 0. 1. ]] SLAMing on 7.384391417999999 meters 0.061821907462903024 Centerline is valid? [False, True] Translation: X:3.75, Y:-0.03, Z:-0.05 [[ 9.99782727e-01 1.99156601e-02 6.15352767e-03 3.75443169e+00] [-1.99190513e-02 9.99801476e-01 4.90300645e-04 -3.09211232e-02] [-6.14254138e-03 -6.12766549e-04 9.99980947e-01 -5.12542491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444391417999999 meters 0.061224539921549456 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.04, Z:-0.05 [[ 9.99791755e-01 1.98158150e-02 4.87639088e-03 3.81644953e+00] [-1.98184593e-02 9.99803473e-01 4.94532388e-04 -3.95662129e-02] [-4.86563297e-03 -5.91071958e-04 9.99987988e-01 -5.22256914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391417999999 meters 0.06105160704040117 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.06, Z:-0.05 [[ 9.99825967e-01 1.85645478e-02 1.84222602e-03 3.87911851e+00] [-1.85649227e-02 9.99827640e-01 1.86611960e-04 -5.52096330e-02] [-1.83844413e-03 -2.20780267e-04 9.99998286e-01 -5.23001348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391417999999 meters 0.061157429599865254 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.05, Z:-0.05 [[ 9.99884840e-01 1.49352114e-02 2.69179887e-03 3.93816331e+00] [-1.49359987e-02 9.99888415e-01 2.72606979e-04 -4.95344212e-02] [-2.68742707e-03 -3.12780290e-04 9.99996340e-01 -5.14892367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391417999999 meters 0.06088960224199717 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.06, Z:-0.05 [[ 9.99914734e-01 1.23600484e-02 4.21353420e-03 3.99991297e+00] [-1.23619554e-02 9.99923497e-01 4.26851785e-04 -5.66327746e-02] [-4.20793594e-03 -4.78902911e-04 9.99991032e-01 -5.14563332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391417999999 meters 0.1664972930107104 Centerline is valid? [True, False] Translation: X:4.02, Y:-0.06, Z:-0.05 [[ 9.99934945e-01 1.10026968e-02 3.00786779e-03 4.02301907e+00] [-1.10005743e-02 9.99939232e-01 -7.21271683e-04 -6.15119347e-02] [-3.01562094e-03 6.88136488e-04 9.99995216e-01 -5.32076613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999998 meters 0.06043089657370953 Centerline is valid? [False, True] Translation: X:4.00, Y:-0.07, Z:-0.05 [[ 9.99957775e-01 9.00281548e-03 1.84331957e-03 4.00274921e+00] [-9.00501400e-03 9.99958748e-01 1.18789197e-03 -7.07806916e-02] [-1.83254916e-03 -1.20444093e-03 9.99997596e-01 -5.18326095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391417999999 meters 0.061651089539876594 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.06, Z:-0.05 [[ 9.99957675e-01 9.01472968e-03 1.83911388e-03 4.06235896e+00] [-9.01509160e-03 9.99959345e-01 1.88593062e-04 -5.66395026e-02] [-1.83733900e-03 -2.05164860e-04 9.99998291e-01 -5.26159875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8643914179999985 meters 0.0601215288245086 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.07, Z:-0.05 [[ 9.99976103e-01 6.25548119e-03 2.94313913e-03 4.12506008e+00] [-6.25639307e-03 9.99980383e-01 3.00728358e-04 -7.10601158e-02] [-2.94120019e-03 -3.19134607e-04 9.99995624e-01 -5.18052965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391417999999 meters 0.06208472122245431 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.04, Z:-0.05 [[ 9.99992604e-01 2.90604462e-03 2.51926249e-03 4.18225378e+00] [-2.90670225e-03 9.99995742e-01 2.57419638e-04 -4.32572228e-02] [-2.51850369e-03 -2.64740480e-04 9.99996794e-01 -5.34546925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984391417999999 meters 0.06069453558531908 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.06, Z:-0.05 [[ 9.99989123e-01 -3.13192821e-03 3.45620602e-03 4.24482987e+00] [ 3.13072626e-03 9.99995037e-01 3.53121606e-04 -5.53569757e-02] [-3.45729481e-03 -3.42297330e-04 9.99993965e-01 -5.39673488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters 0.061481700692119085 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.03, Z:-0.06 [[ 9.99965625e-01 -8.19303024e-03 1.27411602e-03 4.30314202e+00] [ 8.19287095e-03 9.99966429e-01 1.30192666e-04 -3.47171489e-02] [-1.27513992e-03 -1.19749522e-04 9.99999180e-01 -5.61693380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters 0.059526526500259 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.04, Z:-0.06 [[ 9.99949022e-01 -1.00513303e-02 9.61223432e-04 4.36526403e+00] [ 1.00512405e-02 9.99949480e-01 9.82795453e-05 -4.21465133e-02] [-9.62162712e-04 -8.86130473e-05 9.99999533e-01 -5.64999130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418 meters 0.06975270635662867 Centerline is valid? [True, True] Translation: X:4.42, Y:0.00, Z:-0.06 [[ 9.99942808e-01 -1.05454932e-02 1.78112203e-03 4.42068458e+00] [ 1.05451858e-02 9.99944381e-01 1.81891020e-04 1.62209195e-03] [-1.78294109e-03 -1.63098354e-04 9.99998397e-01 -5.76133788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters 0.06566259593890518 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.00, Z:-0.06 [[ 9.99940235e-01 -1.00408470e-02 4.32536601e-03 4.48118060e+00] [ 1.00390289e-02 9.99949510e-01 4.41828515e-04 -7.79797924e-04] [-4.32958395e-03 -3.98379634e-04 9.99990548e-01 -5.69558904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters 0.06188656642706517 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.01, Z:-0.06 [[ 9.99944890e-01 -8.72775781e-03 5.83471091e-03 4.54306862e+00] [ 8.72442699e-03 9.99961764e-01 5.96072127e-04 -7.28539810e-03] [-5.83969019e-03 -5.45134768e-04 9.99982800e-01 -5.65627182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391417999999 meters 0.059785642198531996 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.02, Z:-0.06 [[ 9.99958440e-01 -6.86398044e-03 6.00032379e-03 4.60591266e+00] [ 6.86042501e-03 9.99976279e-01 6.12921950e-04 -1.84392151e-02] [-6.00438855e-03 -5.71731705e-04 9.99981810e-01 -5.77061217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418 meters 0.06446512521470019 Centerline is valid? [True, True] Translation: X:4.66, Y:0.02, Z:-0.06 [[ 9.99978577e-01 -4.84664896e-03 4.39939203e-03 4.66263617e+00] [ 4.84471832e-03 9.99988163e-01 4.49392768e-04 1.62276986e-02] [-4.40151800e-03 -4.28069326e-04 9.99990222e-01 -5.85289577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters 0.059626384091524334 Centerline is valid? [True, True] Translation: X:4.72, Y:0.00, Z:-0.06 [[ 9.99987553e-01 -1.70293713e-03 4.68967388e-03 4.72453163e+00] [ 1.70071022e-03 9.99998439e-01 4.78802225e-04 1.42737774e-03] [-4.69048193e-03 -4.70820489e-04 9.99988889e-01 -5.96488766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters 0.06059900650782647 Centerline is valid? [True, True] Translation: X:4.78, Y:0.02, Z:-0.06 [[ 9.99989152e-01 4.58125088e-04 4.63531616e-03 4.78378047e+00] [-4.60323673e-04 9.99999782e-01 4.73255860e-04 1.73170868e-02] [-4.63509834e-03 -4.75384472e-04 9.99989145e-01 -6.00694790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418 meters 0.061147259494254834 Centerline is valid? [True, True] Translation: X:4.84, Y:0.03, Z:-0.06 [[ 9.99989923e-01 -9.11574717e-04 4.39576576e-03 4.84236846e+00] [ 9.09610634e-04 9.99999486e-01 4.48791129e-04 2.57239073e-02] [-4.39617261e-03 -4.44788171e-04 9.99990238e-01 -6.08062812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418 meters 0.06744830592611993 Centerline is valid? [True, True] Translation: X:4.90, Y:0.06, Z:-0.06 [[ 9.99970207e-01 -4.37608030e-03 6.35887366e-03 4.89946942e+00] [ 4.37203909e-03 9.99990232e-01 6.49283772e-04 5.77566997e-02] [-6.36165286e-03 -6.21463183e-04 9.99979571e-01 -6.08412323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters 0.06285559221236672 Centerline is valid? [True, True] Translation: X:4.96, Y:0.05, Z:-0.06 [[ 9.99958244e-01 -7.25370474e-03 5.55831837e-03 4.96172987e+00] [ 7.25066119e-03 9.99973553e-01 5.67523218e-04 4.54696565e-02] [-5.56228801e-03 -5.27198037e-04 9.99984391e-01 -6.19144313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391417999999 meters 0.06323895695005174 Centerline is valid? [True, True] Translation: X:5.02, Y:0.05, Z:-0.06 [[ 9.99962154e-01 -6.23437600e-03 6.06826660e-03 5.02230015e+00] [ 6.23072974e-03 9.99980397e-01 6.19592713e-04 5.18242856e-02] [-6.07201042e-03 -5.81759535e-04 9.99981396e-01 -6.26725068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418 meters 0.06116021402535885 Centerline is valid? [True, True] Translation: X:5.08, Y:0.05, Z:-0.06 [[ 9.99963543e-01 -4.93298527e-03 6.96987679e-03 5.08343862e+00] [ 4.92814455e-03 9.99987603e-01 7.11524309e-04 4.80385407e-02] [-6.97330032e-03 -6.77149808e-04 9.99975457e-01 -6.24353349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters 0.06090892881098858 Centerline is valid? [True, True] Translation: X:5.14, Y:0.06, Z:-0.06 [[ 9.99967039e-01 -8.77966669e-04 8.07156746e-03 5.14227221e+00] [ 8.71344621e-04 9.99999281e-01 8.23896679e-04 5.67183082e-02] [-8.07228501e-03 -8.16836406e-04 9.99967085e-01 -6.21063806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters 0.06338493712117947 Centerline is valid? [True, True] Translation: X:5.20, Y:0.07, Z:-0.06 [[ 9.99964572e-01 4.71533215e-03 6.97285540e-03 5.20029460e+00] [-4.72040816e-03 9.99988606e-01 7.11688600e-04 7.39005617e-02] [-6.96942010e-03 -7.44578109e-04 9.99975436e-01 -6.22094467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391417999999 meters 0.06076561463181988 Centerline is valid? [True, True] Translation: X:5.26, Y:0.07, Z:-0.07 [[ 9.99954166e-01 8.64212909e-03 4.12056032e-03 5.26093489e+00] [-8.64393443e-03 9.99962552e-01 4.20521066e-04 7.21336352e-02] [-4.11677182e-03 -4.56119645e-04 9.99991422e-01 -6.51254467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418 meters 0.07015601459492549 Centerline is valid? [True, True] Translation: X:5.32, Y:0.11, Z:-0.06 [[ 9.99932664e-01 1.06671441e-02 4.56939667e-03 5.31748504e+00] [-1.06693851e-02 9.99942972e-01 4.66342534e-04 1.05009532e-01] [-4.56416154e-03 -5.15063786e-04 9.99989452e-01 -6.42214678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters 0.06109410517534626 Centerline is valid? [True, True] Translation: X:5.38, Y:0.08, Z:-0.06 [[ 9.99945531e-01 7.57620385e-03 7.17885993e-03 5.38140659e+00] [-7.58165587e-03 9.99970991e-01 7.32544719e-04 8.03720211e-02] [-7.17310176e-03 -7.86932464e-04 9.99973963e-01 -6.36027025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391417999999 meters 0.06084467584478835 Centerline is valid? [True, True] Translation: X:5.44, Y:0.08, Z:-0.06 [[ 9.99959090e-01 -2.08324145e-03 8.80216505e-03 5.44239252e+00] [ 2.07541498e-03 9.99997443e-01 8.98193417e-04 7.93954057e-02] [-8.80401370e-03 -8.79888526e-04 9.99960857e-01 -6.43328371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418 meters 0.06004683609838646 Centerline is valid? [True, True] Translation: X:5.50, Y:0.07, Z:-0.07 [[ 9.99896700e-01 -1.31774643e-02 5.73974784e-03 5.50355753e+00] [ 1.31743176e-02 9.99913043e-01 5.85700419e-04 7.39091827e-02] [-5.74696677e-03 -5.10022655e-04 9.99983356e-01 -6.71201204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters 0.07166380325633843 Centerline is valid? [True, True] Translation: X:5.56, Y:0.12, Z:-0.07 [[ 9.99824533e-01 -1.84819622e-02 3.05299447e-03 5.55937173e+00] [ 1.84810965e-02 9.99829161e-01 3.11540159e-04 1.18605022e-01] [-3.05823077e-03 -2.55062808e-04 9.99995291e-01 -7.01735045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters 0.06340249536046796 Centerline is valid? [True, True] Translation: X:5.62, Y:0.10, Z:-0.07 [[ 9.99708016e-01 -2.38269600e-02 4.01978595e-03 5.62296457e+00] [ 2.38255023e-02 9.99716048e-01 4.10137721e-04 9.65491301e-02] [-4.02841686e-03 -3.14244548e-04 9.99991837e-01 -6.97609766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391417999999 meters 0.060339661164273355 Centerline is valid? [True, True] Translation: X:5.68, Y:0.09, Z:-0.07 [[ 9.99676324e-01 -2.50940801e-02 4.18736202e-03 5.68377652e+00] [ 2.50925092e-02 9.99685042e-01 4.27284747e-04 8.79083311e-02] [-4.19676549e-03 -3.22075026e-04 9.99991142e-01 -6.91548952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418 meters 0.06332420485518674 Centerline is valid? [True, True] Translation: X:5.74, Y:0.11, Z:-0.07 [[ 9.99662316e-01 -2.51985353e-02 6.34729166e-03 5.74143624e+00] [ 2.51949269e-02 9.99682348e-01 6.47840133e-04 1.06856130e-01] [-6.36160005e-03 -4.87701818e-04 9.99979646e-01 -6.93773885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters 0.06467235707604897 Centerline is valid? [True, True] Translation: X:5.80, Y:0.12, Z:-0.07 [[ 9.99607267e-01 -2.72910345e-02 6.36491578e-03 5.80026501e+00] [ 2.72874478e-02 9.99627417e-01 6.49691091e-04 1.15721695e-01] [-6.38027507e-03 -4.75753628e-04 9.99979533e-01 -7.05465496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391417999999 meters 0.06442102856871525 Centerline is valid? [True, True] Translation: X:5.86, Y:0.12, Z:-0.07 [[ 9.99418219e-01 -3.36266894e-02 5.69824593e-03 5.86052334e+00] [ 3.36239169e-02 9.99434387e-01 5.81685794e-04 1.20320865e-01] [-5.71458310e-03 -3.89750032e-04 9.99983596e-01 -7.20666272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418 meters 0.06085602904466977 Centerline is valid? [True, True] Translation: X:5.92, Y:0.11, Z:-0.07 [[ 9.99202008e-01 -3.94613480e-02 6.17649980e-03 5.92281470e+00] [ 3.94582014e-02 9.99221023e-01 6.30541483e-04 1.07709036e-01] [-6.19657046e-03 -3.86324743e-04 9.99980726e-01 -7.32611165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters 0.06122711027840012 Centerline is valid? [True, True] Translation: X:5.98, Y:0.11, Z:-0.07 [[ 9.98828605e-01 -4.76230910e-02 8.57083177e-03 5.98325422e+00] [ 4.76173306e-02 9.98865268e-01 8.75029222e-04 1.14245535e-01] [-8.60277777e-03 -4.65884088e-04 9.99962887e-01 -7.36225160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters 0.05953157115493169 Centerline is valid? [True, True] Translation: X:6.04, Y:0.11, Z:-0.08 [[ 9.98584851e-01 -5.23470327e-02 9.38533424e-03 6.04471793e+00] [ 5.23403325e-02 9.98628846e-01 9.58269729e-04 1.07475641e-01] [-9.42262808e-03 -4.65682119e-04 9.99955498e-01 -7.56743629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391417999999 meters 0.061518014664711185 Centerline is valid? [True, True] Translation: X:6.10, Y:0.13, Z:-0.08 [[ 9.98598481e-01 -5.23301036e-02 7.91414129e-03 6.10149340e+00] [ 5.23253385e-02 9.98629764e-01 8.08106048e-04 1.29169213e-01] [-7.94558533e-03 -3.92863350e-04 9.99968356e-01 -7.76551739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418 meters 0.06128772364580697 Centerline is valid? [True, True] Translation: X:6.16, Y:0.14, Z:-0.08 [[ 9.98665451e-01 -5.10960426e-02 7.51745674e-03 6.16043426e+00] [ 5.10917072e-02 9.98693671e-01 7.67750666e-04 1.39234492e-01] [-7.54686549e-03 -3.82646366e-04 9.99971449e-01 -7.96864377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters 0.06019559708481986 Centerline is valid? [True, True] Translation: X:6.22, Y:0.14, Z:-0.08 [[ 9.98799349e-01 -4.84818039e-02 7.02679260e-03 6.22137550e+00] [ 4.84779511e-02 9.98823995e-01 7.17691145e-04 1.40859473e-01] [-7.05332402e-03 -3.76184940e-04 9.99975054e-01 -8.10612226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391417999999 meters 0.06102881814869468 Centerline is valid? [True, True] Translation: X:6.28, Y:0.15, Z:-0.08 [[ 9.98941950e-01 -4.47796034e-02 1.04770499e-02 6.28106520e+00] [ 4.47708351e-02 9.98996710e-01 1.07006858e-03 1.54492885e-01] [-1.05144557e-02 -5.99870121e-04 9.99944542e-01 -8.10298411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418 meters 0.060011049416518296 Centerline is valid? [True, True] Translation: X:6.34, Y:0.16, Z:-0.08 [[ 9.99026452e-01 -4.25038071e-02 1.18141288e-02 6.34102423e+00] [ 4.24924993e-02 9.99096057e-01 1.20662186e-03 1.56527882e-01] [-1.18547355e-02 -7.03435301e-04 9.99929483e-01 -8.19192640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters 0.0611103538899474 Centerline is valid? [True, True] Translation: X:6.40, Y:0.17, Z:-0.08 [[ 9.99157042e-01 -3.93542050e-02 1.16812279e-02 6.39921064e+00] [ 3.93429348e-02 9.99225055e-01 1.19312654e-03 1.73148704e-01] [-1.17191301e-02 -7.32546997e-04 9.99931060e-01 -8.22903912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters 0.062041067521169294 Centerline is valid? [True, True] Translation: X:6.46, Y:0.19, Z:-0.08 [[ 9.99216008e-01 -3.74217375e-02 1.29222001e-02 6.45886648e+00] [ 3.74077850e-02 9.99299212e-01 1.31983615e-03 1.85883803e-01] [-1.29625350e-02 -8.35410525e-04 9.99915634e-01 -8.29418491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391417999999 meters 0.06295369800763723 Centerline is valid? [True, True] Translation: X:6.52, Y:0.20, Z:-0.08 [[ 9.99201552e-01 -3.72171984e-02 1.45305798e-02 6.51918675e+00] [ 3.71995388e-02 9.99306756e-01 1.48383035e-03 1.97809480e-01] [-1.45757306e-02 -9.42114727e-04 9.99893325e-01 -8.17467257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418 meters 0.059974843955907714 Centerline is valid? [True, True] Translation: X:6.58, Y:0.20, Z:-0.08 [[ 9.99070125e-01 -3.98642223e-02 1.64234179e-02 6.58009121e+00] [ 3.98420205e-02 9.99204584e-01 1.67694968e-03 1.96460011e-01] [-1.64772048e-02 -1.02104817e-03 9.99863720e-01 -8.35468246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters 0.0617548131153979 Centerline is valid? [True, True] Translation: X:6.64, Y:0.21, Z:-0.08 [[ 9.98982511e-01 -4.21534128e-02 1.60322525e-02 6.63825958e+00] [ 4.21325485e-02 9.99110689e-01 1.63708948e-03 2.12307068e-01] [-1.60870038e-02 -9.59944106e-04 9.99870135e-01 -8.28552501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391417999999 meters 0.06184127447083147 Centerline is valid? [True, True] Translation: X:6.70, Y:0.22, Z:-0.09 [[ 9.98834952e-01 -4.59963080e-02 1.45972298e-02 6.69808474e+00] [ 4.59794207e-02 9.98941275e-01 1.49056101e-03 2.22740914e-01] [-1.46503356e-02 -8.17652269e-04 9.99892344e-01 -8.61790858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391417999999 meters 0.061882550048269494 Centerline is valid? [True, True] Translation: X:6.76, Y:0.23, Z:-0.09 [[ 9.98706781e-01 -4.87697477e-02 1.43623853e-02 6.75820768e+00] [ 4.87536858e-02 9.98809755e-01 1.46655345e-03 2.32353431e-01] [-1.44168140e-02 -7.64437656e-04 9.99895780e-01 -8.68907357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters 0.06502242274875858 Centerline is valid? [True, True] Translation: X:6.82, Y:0.25, Z:-0.09 [[ 9.98668886e-01 -4.98603516e-02 1.32060955e-02 6.81685884e+00] [ 4.98468679e-02 9.98755962e-01 1.34842075e-03 2.52971971e-01] [-1.32568993e-02 -6.88343351e-04 9.99911887e-01 -8.52744955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters 0.06260203352113933 Centerline is valid? [True, True] Translation: X:6.88, Y:0.25, Z:-0.09 [[ 9.98598279e-01 -5.05294324e-02 1.57560975e-02 6.87807715e+00] [ 5.05103260e-02 9.98722244e-01 1.60848629e-03 2.53364261e-01] [-1.58172409e-02 -8.10386019e-04 9.99874571e-01 -8.66774924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391417999999 meters 0.061495710026567986 Centerline is valid? [True, True] Translation: X:6.94, Y:0.26, Z:-0.09 [[ 9.98658905e-01 -4.93910046e-02 1.55216095e-02 6.93877548e+00] [ 4.93723314e-02 9.98779186e-01 1.58417973e-03 2.58787225e-01] [-1.55809048e-02 -8.15717149e-04 9.99878278e-01 -8.85857710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418 meters 0.0610823241793228 Centerline is valid? [True, True] Translation: X:7.00, Y:0.26, Z:-0.09 [[ 9.98641743e-01 -4.95693605e-02 1.60482780e-02 7.00086251e+00] [ 4.95494293e-02 9.98770330e-01 1.63743766e-03 2.59822514e-01] [-1.61097107e-02 -8.40030578e-04 9.99869877e-01 -9.03193243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters 0.061106033776488176 Centerline is valid? [True, True] Translation: X:7.06, Y:0.27, Z:-0.09 [[ 9.98627834e-01 -5.05134441e-02 1.38145188e-02 7.06024212e+00] [ 5.04987691e-02 9.98723129e-01 1.40927468e-03 2.72703316e-01] [-1.38680667e-02 -7.09724731e-04 9.99903582e-01 -9.10314593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391417999999 meters 0.062037364008948506 Centerline is valid? [True, True] Translation: X:7.12, Y:0.28, Z:-0.09 [[ 9.98520705e-01 -5.26147288e-02 1.37146703e-02 7.11994329e+00] [ 5.26004646e-02 9.98614657e-01 1.39896993e-03 2.82017199e-01] [-1.37692772e-02 -6.75502409e-04 9.99904971e-01 -9.22228339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391417999999 meters 0.06045769667198524 Centerline is valid? [True, True] Translation: X:7.18, Y:0.28, Z:-0.09 [[ 9.98394399e-01 -5.49879845e-02 1.35994768e-02 7.17972609e+00] [ 5.49741792e-02 9.98486813e-01 1.38716840e-03 2.84015112e-01] [-1.36551758e-02 -6.37321088e-04 9.99906561e-01 -9.30144669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418 meters 0.060144508025719516 Centerline is valid? [True, True] Translation: X:7.24, Y:0.29, Z:-0.09 [[ 9.98134340e-01 -5.93458740e-02 1.43494229e-02 7.24001515e+00] [ 5.93309539e-02 9.98237294e-01 1.46362103e-03 2.87838166e-01] [-1.44109890e-02 -6.09525459e-04 9.99895971e-01 -9.46424041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters 0.06003526079456507 Centerline is valid? [True, True] Translation: X:7.30, Y:0.30, Z:-0.10 [[ 9.97890724e-01 -6.36030417e-02 1.29905848e-02 7.29843682e+00] [ 6.35911734e-02 9.97975153e-01 1.32505798e-03 2.99353776e-01] [-1.30485585e-02 -4.96176544e-04 9.99914741e-01 -9.63441554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391417999999 meters 0.06000983709587566 Centerline is valid? [True, True] Translation: X:7.36, Y:0.30, Z:-0.10 [[ 9.97729067e-01 -6.61936089e-02 1.24544945e-02 7.35946449e+00] [ 6.61829022e-02 9.97806700e-01 1.27031458e-03 3.02710466e-01] [-1.25112647e-02 -4.43155192e-04 9.99921633e-01 -9.79286733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418 meters 0.06006910909610073 Centerline is valid? [True, True] Translation: X:7.42, Y:0.32, Z:-0.10 [[ 9.97641383e-01 -6.76587818e-02 1.15741310e-02 7.41922888e+00] [ 6.76496361e-02 9.97708441e-01 1.18032317e-03 3.17844671e-01] [-1.16274675e-02 -3.94553486e-04 9.99932321e-01 -9.60078971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters 0.06079118679388977 Centerline is valid? [True, True] Translation: X:7.48, Y:0.32, Z:-0.10 [[ 9.97614448e-01 -6.78532700e-02 1.27022780e-02 7.47985101e+00] [ 6.78422739e-02 9.97695218e-01 1.29507635e-03 3.24918201e-01] [-1.27608772e-02 -4.30235450e-04 9.99918484e-01 -9.74781403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391417999998 meters 0.05955041951498457 Centerline is valid? [True, True] Translation: X:7.54, Y:0.34, Z:-0.10 [[ 9.97844901e-01 -6.42405614e-02 1.33680452e-02 7.53953594e+00] [ 6.42280610e-02 9.97934316e-01 1.36277619e-03 3.37426609e-01] [-1.34279766e-02 -5.01235645e-04 9.99909715e-01 -9.81507681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391417999999 meters 0.059725310533701524 Centerline is valid? [True, True] Translation: X:7.60, Y:0.35, Z:-0.10 [[ 9.98067372e-01 -6.05163244e-02 1.41171871e-02 7.59957938e+00] [ 6.05020118e-02 9.98167038e-01 1.43912291e-03 3.47344603e-01] [-1.41784012e-02 -5.82223404e-04 9.99899312e-01 -9.79336838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418 meters 0.05992855601938689 Centerline is valid? [True, True] Translation: X:7.66, Y:0.36, Z:-0.10 [[ 9.98164527e-01 -5.90584499e-02 1.34043159e-02 7.65926519e+00] [ 5.90454161e-02 9.98254362e-01 1.36637728e-03 3.55792701e-01] [-1.34616130e-02 -5.72405920e-04 9.99909225e-01 -9.92067791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters 0.061792758491631884 Centerline is valid? [True, True] Translation: X:7.72, Y:0.37, Z:-0.10 [[ 9.98143545e-01 -5.95508245e-02 1.27735231e-02 7.71906836e+00] [ 5.95390325e-02 9.98225129e-01 1.30179580e-03 3.72677864e-01] [-1.28283748e-02 -5.38855871e-04 9.99917568e-01 -9.88301987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391417999999 meters 0.060296228739144524 Centerline is valid? [True, True] Translation: X:7.78, Y:0.38, Z:-0.10 [[ 9.97985705e-01 -6.20260596e-02 1.33154084e-02 7.78034416e+00] [ 6.20134694e-02 9.98074390e-01 1.35674890e-03 3.76002728e-01] [-1.33739219e-02 -5.28281339e-04 9.99910426e-01 -1.00209942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418 meters 0.05993842502589784 Centerline is valid? [True, True] Translation: X:7.84, Y:0.38, Z:-0.10 [[ 9.97962714e-01 -6.23135696e-02 1.36908805e-02 7.84180220e+00] [ 6.23002915e-02 9.98056476e-01 1.39462714e-03 3.82281006e-01] [-1.37511762e-02 -5.38840034e-04 9.99905303e-01 -1.01533380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters 0.06034843892144747 Centerline is valid? [True, True] Translation: X:7.90, Y:0.39, Z:-0.10 [[ 9.98110588e-01 -6.00694000e-02 1.29197701e-02 7.90197339e+00] [ 6.00573917e-02 9.98194059e-01 1.31577738e-03 3.87137308e-01] [-1.29754757e-02 -5.37363642e-04 9.99915671e-01 -1.02168345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391417999998 meters 0.05998946905613819 Centerline is valid? [True, True] Translation: X:7.96, Y:0.39, Z:-0.10 [[ 9.98052025e-01 -6.09229907e-02 1.34367021e-02 7.96420734e+00] [ 6.09100842e-02 9.98142320e-01 1.36807160e-03 3.91642036e-01] [-1.34950880e-02 -5.46975974e-04 9.99908788e-01 -1.02352250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391417999999 meters 0.06074141267494605 Centerline is valid? [True, True] Translation: X:8.02, Y:0.41, Z:-0.10 [[ 9.97633004e-01 -6.73272883e-02 1.39794482e-02 8.02354089e+00] [ 6.73139497e-02 9.97730829e-01 1.42303690e-03 4.08046319e-01] [-1.40435357e-02 -4.78656705e-04 9.99901270e-01 -9.95161469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418 meters 0.06017952081978393 Centerline is valid? [True, True] Translation: X:8.08, Y:0.41, Z:-0.10 [[ 9.97207372e-01 -7.35584481e-02 1.29078432e-02 8.08420648e+00] [ 7.35475986e-02 9.97290842e-01 1.31386695e-03 4.11738036e-01] [-1.29695198e-02 -3.60856940e-04 9.99915827e-01 -1.01937128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters 0.060448901740591046 Centerline is valid? [True, True] Translation: X:8.14, Y:0.42, Z:-0.10 [[ 9.97052161e-01 -7.58267974e-02 1.17168884e-02 8.14386301e+00] [ 7.58180153e-02 9.97120959e-01 1.19255183e-03 4.21929398e-01] [-1.17735823e-02 -3.00685159e-04 9.99930644e-01 -1.01883793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391417999999 meters 0.060204498219997016 Centerline is valid? [True, True] Translation: X:8.20, Y:0.43, Z:-0.10 [[ 9.96871719e-01 -7.81052388e-02 1.20973978e-02 8.20496018e+00] [ 7.80960470e-02 9.96945080e-01 1.23107375e-03 4.28910182e-01] [-1.21565945e-02 -2.82463659e-04 9.99926066e-01 -1.01668771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391417999999 meters 0.060699477562888716 Centerline is valid? [True, True] Translation: X:8.27, Y:0.44, Z:-0.10 [[ 9.96807316e-01 -7.89517912e-02 1.19075291e-02 8.26566835e+00] [ 7.89429497e-02 9.96878399e-01 1.21145251e-03 4.41778386e-01] [-1.19660049e-02 -2.67569257e-04 9.99928369e-01 -1.01141078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters 0.06014219907836479 Centerline is valid? [True, True] Translation: X:8.33, Y:0.45, Z:-0.10 [[ 9.96845466e-01 -7.87591118e-02 9.80406615e-03 8.32704721e+00] [ 7.87531114e-02 9.96893652e-01 9.97195513e-04 4.53168939e-01] [-9.85214954e-03 -2.21949113e-04 9.99951442e-01 -1.02891273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391417999998 meters 0.060353578153028664 Centerline is valid? [True, True] Translation: X:8.39, Y:0.46, Z:-0.10 [[ 9.97049913e-01 -7.63571020e-02 7.81432845e-03 8.38767717e+00] [ 7.63532178e-02 9.97080516e-01 7.94622408e-04 4.61748977e-01] [-7.85218970e-03 -1.95629081e-04 9.99969152e-01 -1.04113936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391417999999 meters 0.061390241774141784 Centerline is valid? [True, True] Translation: X:8.45, Y:0.48, Z:-0.10 [[ 9.97512986e-01 -7.00664209e-02 7.65110762e-03 8.44726726e+00] [ 7.00625132e-02 9.97542299e-01 7.77911802e-04 4.76798601e-01] [-7.68680898e-03 -2.39921296e-04 9.99970427e-01 -1.01905242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418 meters 0.06044141173008689 Centerline is valid? [True, True] Translation: X:8.51, Y:0.49, Z:-0.10 [[ 9.97885357e-01 -6.45258852e-02 7.82465713e-03 8.50599011e+00] [ 6.45216285e-02 9.97915992e-01 7.95484935e-04 4.92407808e-01] [-7.85967985e-03 -2.88943147e-04 9.99969070e-01 -1.00999095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters 0.06049625903249923 Centerline is valid? [True, True] Translation: X:8.57, Y:0.50, Z:-0.10 [[ 9.97915208e-01 -6.39348970e-02 8.80714855e-03 8.56741528e+00] [ 6.39294827e-02 9.97954017e-01 8.95213341e-04 4.99558200e-01] [-8.84636465e-03 -3.30310557e-04 9.99960816e-01 -1.00125215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391417999999 meters 0.06068939142342872 Centerline is valid? [True, True] Translation: X:8.63, Y:0.51, Z:-0.10 [[ 9.97759137e-01 -6.60805401e-02 1.04912689e-02 8.62834799e+00] [ 6.60729798e-02 9.97814224e-01 1.06598395e-03 5.08951626e-01] [-1.05387781e-02 -3.70405831e-04 9.99944397e-01 -1.00017678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391417999999 meters 0.0611344719434811 Centerline is valid? [True, True] Translation: X:8.69, Y:0.52, Z:-0.10 [[ 9.97429842e-01 -7.11004942e-02 8.85608622e-03 8.68854092e+00] [ 7.10953054e-02 9.97469121e-01 8.99753157e-04 5.18284907e-01] [-8.89764543e-03 -2.67814495e-04 9.99960379e-01 -9.99954489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418 meters 0.06087288679609782 Centerline is valid? [True, True] Translation: X:8.75, Y:0.53, Z:-0.10 [[ 9.97157952e-01 -7.48881216e-02 8.23340275e-03 8.74905298e+00] [ 7.48837652e-02 9.97191918e-01 8.36555796e-04 5.25865607e-01] [-8.27293078e-03 -2.17630065e-04 9.99965755e-01 -9.92180587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391417999998 meters 0.06059553727549026 Centerline is valid? [True, True] Translation: X:8.81, Y:0.53, Z:-0.10 [[ 9.96835694e-01 -7.88573994e-02 1.00054413e-02 8.80825144e+00] [ 7.88511659e-02 9.96885881e-01 1.01658060e-03 5.32176174e-01] [-1.00544481e-02 -2.24423118e-04 9.99949428e-01 -9.63737013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391417999999 meters 0.06084633857228081 Centerline is valid? [True, True] Translation: X:8.87, Y:0.54, Z:-0.10 [[ 9.96769190e-01 -7.95448141e-02 1.11267363e-02 8.86996117e+00] [ 7.95371492e-02 9.96831262e-01 1.13039300e-03 5.41359393e-01] [-1.11813955e-02 -2.41752033e-04 9.99937457e-01 -9.50841560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418 meters 0.06083940792225485 Centerline is valid? [True, True] Translation: X:8.93, Y:0.55, Z:-0.10 [[ 9.96825891e-01 -7.88670557e-02 1.08687584e-02 8.93170032e+00] [ 7.88597059e-02 9.96885113e-01 1.10382225e-03 5.50516832e-01] [-1.09219586e-02 -2.43211504e-04 9.99940324e-01 -9.55444746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters 0.06187094061027219 Centerline is valid? [True, True] Translation: X:8.99, Y:0.56, Z:-0.10 [[ 9.97031870e-01 -7.63824823e-02 9.65231212e-03 8.99167005e+00] [ 7.63765716e-02 9.97078562e-01 9.80040719e-04 5.62074928e-01] [-9.69897143e-03 -2.39921323e-04 9.99952935e-01 -9.66776489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391417999998 meters 0.06082383468532722 Centerline is valid? [True, True] Translation: X:9.05, Y:0.58, Z:-0.10 [[ 9.97433124e-01 -7.10181686e-02 9.14236927e-03 9.05064429e+00] [ 7.10126419e-02 9.97474984e-01 9.28137050e-04 5.78454840e-01] [-9.18519923e-03 -2.76530843e-04 9.99957777e-01 -9.56991161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391417999999 meters 0.061523345135371374 Centerline is valid? [True, True] Translation: X:9.11, Y:0.58, Z:-0.09 [[ 9.97680312e-01 -6.74560856e-02 9.14717874e-03 9.11159526e+00] [ 6.74504042e-02 9.97722196e-01 9.28535562e-04 5.80560253e-01] [-9.18897864e-03 -3.09400746e-04 9.99957733e-01 -9.42066342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418 meters 0.062171833955154486 Centerline is valid? [True, True] Translation: X:9.17, Y:0.60, Z:-0.09 [[ 9.97794560e-01 -6.51237561e-02 1.28417873e-02 9.17037057e+00] [ 6.51123677e-02 9.97877087e-01 1.30338014e-03 5.98759167e-01] [-1.28994063e-02 -4.64346435e-04 9.99916691e-01 -9.06689460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391417999998 meters 0.0619171517469958 Centerline is valid? [True, True] Translation: X:9.23, Y:0.61, Z:-0.09 [[ 9.97477800e-01 -6.96306441e-02 1.37699811e-02 9.23050262e+00] [ 6.96179782e-02 9.97572746e-01 1.39761460e-03 6.11053862e-01] [-1.38338746e-02 -4.35451296e-04 9.99904213e-01 -9.07727494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391417999999 meters 0.061804584233461496 Centerline is valid? [True, True] Translation: X:9.29, Y:0.62, Z:-0.09 [[ 9.97128322e-01 -7.46133105e-02 1.29600905e-02 9.29069567e+00] [ 7.46025105e-02 9.97212482e-01 1.31546033e-03 6.17390880e-01] [-1.30221149e-02 -3.44827460e-04 9.99915149e-01 -9.32211858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418 meters 0.06167796250816977 Centerline is valid? [True, True] Translation: X:9.35, Y:0.62, Z:-0.10 [[ 9.96749681e-01 -7.98363320e-02 1.07811381e-02 9.35120354e+00] [ 7.98291645e-02 9.96807959e-01 1.09421331e-03 6.24884297e-01] [-1.08340822e-02 -2.30007520e-04 9.99941283e-01 -9.56731776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters 0.061132085140863324 Centerline is valid? [True, True] Translation: X:9.41, Y:0.64, Z:-0.10 [[ 9.96681843e-01 -8.09346432e-02 8.65372773e-03 9.41280907e+00] [ 8.09300698e-02 9.96719395e-01 8.77953291e-04 6.35812546e-01] [-8.69639510e-03 -1.74693316e-04 9.99962170e-01 -9.51308281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391417999998 meters 0.061734673672456 Centerline is valid? [True, True] Translation: X:9.47, Y:0.65, Z:-0.09 [[ 9.96876973e-01 -7.85890227e-02 7.75029791e-03 9.47346778e+00] [ 7.85852888e-02 9.96907085e-01 7.85620014e-04 6.54063154e-01] [-7.78806800e-03 -1.74107102e-04 9.99969657e-01 -9.45660682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391417999999 meters 0.061928811823207294 Centerline is valid? [True, True] Translation: X:9.53, Y:0.67, Z:-0.10 [[ 9.97373800e-01 -7.20954957e-02 6.90965378e-03 9.53271360e+00] [ 7.20923736e-02 9.97397714e-01 7.00179601e-04 6.66836838e-01] [-6.94215268e-03 -2.00207448e-04 9.99975883e-01 -9.55867635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418 meters 0.062085010599532156 Centerline is valid? [True, True] Translation: X:9.59, Y:0.68, Z:-0.10 [[ 9.97722649e-01 -6.72587424e-02 5.07706081e-03 9.59199594e+00] [ 6.72569943e-02 9.97735552e-01 5.14468826e-04 6.80130857e-01] [-5.10016659e-03 -1.71829350e-04 9.99986979e-01 -9.64922768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391417999998 meters 0.06223806493490675 Centerline is valid? [True, True] Translation: X:9.65, Y:0.69, Z:-0.10 [[ 9.98119443e-01 -6.11790635e-02 3.83395086e-03 9.65206860e+00] [ 6.11780220e-02 9.98126795e-01 3.88454526e-04 6.89856723e-01] [-3.85053437e-03 -1.53170485e-04 9.99992575e-01 -9.69479620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391417999999 meters 0.06264110296542705 Centerline is valid? [True, True] Translation: X:9.71, Y:0.69, Z:-0.10 [[ 9.98161523e-01 -6.05398723e-02 2.91507238e-03 9.71386336e+00] [ 6.05392672e-02 9.98165773e-01 2.95462302e-04 6.93943837e-01] [-2.92761272e-03 -1.18442755e-04 9.99995708e-01 -9.62371703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391417999999 meters 0.06227735929141597 Centerline is valid? [True, True] Translation: X:9.77, Y:0.71, Z:-0.10 [[ 9.97915638e-01 -6.45016947e-02 1.97733305e-03 9.77207155e+00] [ 6.45014243e-02 9.97917595e-01 2.00246105e-04 7.06085285e-01] [-1.98613166e-03 -7.22879209e-05 9.99998025e-01 -9.65282526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters 0.06247182187357098 Centerline is valid? [True, True] Translation: X:9.83, Y:0.72, Z:-0.10 [[ 9.97631987e-01 -6.86945638e-02 3.38748324e-03 9.83183078e+00] [ 6.86937942e-02 9.97637732e-01 3.43138926e-04 7.15436718e-01] [-3.40305288e-03 -1.09627292e-04 9.99994204e-01 -9.73331383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391417999998 meters 0.06331258252371474 Centerline is valid? [True, True] Translation: X:9.89, Y:0.72, Z:-0.10 [[ 9.97333988e-01 -7.29168007e-02 2.83826044e-03 9.89161211e+00] [ 7.29162776e-02 9.97338024e-01 2.87480512e-04 7.20372713e-01] [-2.85166722e-03 -7.97586989e-05 9.99995931e-01 -9.93681262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391417999999 meters 0.06260467878746069 Centerline is valid? [True, True] Translation: X:9.95, Y:0.72, Z:-0.10 [[ 9.97260072e-01 -7.39648596e-02 1.24439619e-03 9.95448697e+00] [ 7.39647595e-02 9.97260848e-01 1.26289969e-04 7.21273439e-01] [-1.25032861e-03 -3.39024791e-05 9.99999218e-01 -1.00330958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418 meters 0.0628128883532941 Centerline is valid? [True, True] Translation: X:10.02, Y:0.72, Z:-0.10 [[ 9.97097160e-01 -7.61244108e-02 -1.52565812e-03 1.00158581e+01] [ 7.61242637e-02 9.97098326e-01 -1.54355769e-04 7.21401950e-01] [ 1.53298140e-03 3.77680978e-05 9.99998824e-01 -1.00062719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391417999998 meters 0.06291896694917239 Centerline is valid? [True, True] Translation: X:10.08, Y:0.73, Z:-0.10 [[ 9.96749547e-01 -8.04368586e-02 -4.50032212e-03 1.00774972e+01] [ 8.04356226e-02 9.96759702e-01 -4.55258474e-04 7.25822842e-01] [ 4.52235930e-03 9.17924651e-05 9.99989770e-01 -1.00240505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391417999999 meters 0.06312540560796838 Centerline is valid? [True, True] Translation: X:10.14, Y:0.73, Z:-0.10 [[ 9.96308045e-01 -8.56927110e-02 -5.19989827e-03 1.01387084e+01] [ 8.56911318e-02 9.96321611e-01 -5.26147287e-04 7.27107343e-01] [ 5.22585801e-03 7.86196071e-05 9.99986342e-01 -9.87864592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391417999999 meters 0.06292832496650136 Centerline is valid? [True, True] Translation: X:10.20, Y:0.73, Z:-0.10 [[ 9.95239344e-01 -9.73266623e-02 -5.11561220e-03 1.01988526e+01] [ 9.73252869e-02 9.95252491e-01 -5.17705983e-04 7.30859162e-01] [ 5.14171238e-03 1.73629382e-05 9.99986781e-01 -9.92386331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters 0.06260845504833017 Centerline is valid? [True, True] Translation: X:10.26, Y:0.74, Z:-0.10 [[ 9.94334861e-01 -1.06121608e-01 -6.03221025e-03 1.02609552e+01] [ 1.06119866e-01 9.94353158e-01 -6.09120630e-04 7.36715704e-01] [ 6.06278817e-03 -3.44674631e-05 9.99981621e-01 -9.93608750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391417999998 meters 0.06317436681723218 Centerline is valid? [True, True] Translation: X:10.32, Y:0.74, Z:-0.10 [[ 9.92799657e-01 -1.19561904e-01 -7.33430497e-03 1.03220002e+01] [ 1.19559690e-01 9.92826738e-01 -7.41226006e-04 7.35796043e-01] [ 7.37031647e-03 -1.40998303e-04 9.99972829e-01 -1.02007033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391417999999 meters 0.06245207249610786 Centerline is valid? [True, True] Translation: X:10.38, Y:0.74, Z:-0.10 [[ 9.91845631e-01 -1.27228144e-01 -7.43263134e-03 1.03822921e+01] [ 1.27226085e-01 9.91873459e-01 -7.51176034e-04 7.42374392e-01] [ 7.46780050e-03 -2.00573919e-04 9.99972095e-01 -1.01040994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418 meters 0.06285028185565494 Centerline is valid? [True, True] Translation: X:10.44, Y:0.75, Z:-0.10 [[ 9.91167354e-01 -1.32565950e-01 -3.68050284e-03 1.04422349e+01] [ 1.32565482e-01 9.91174180e-01 -3.71879846e-04 7.51935490e-01] [ 3.69731799e-03 -1.19312472e-04 9.99993158e-01 -9.90077434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391417999998 meters 0.06333972975789023 Centerline is valid? [True, True] Translation: X:10.50, Y:0.76, Z:-0.10 [[ 9.91165546e-01 -1.32589920e-01 -3.28226238e-03 1.05032600e+01] [ 1.32589548e-01 9.91170975e-01 -3.31464728e-04 7.58580928e-01] [ 3.29723209e-03 -1.06657268e-04 9.99994558e-01 -9.98523067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391417999998 meters 0.0631372615540757 Centerline is valid? [True, True] Translation: X:10.56, Y:0.78, Z:-0.10 [[ 9.91476970e-01 -1.30232832e-01 -3.58144812e-03 1.05625787e+01] [ 1.30232374e-01 9.91483433e-01 -3.61762906e-04 7.75158077e-01] [ 3.59805989e-03 -1.07740902e-04 9.99993521e-01 -1.00145622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391417999999 meters 0.06288388583610797 Centerline is valid? [True, True] Translation: X:10.62, Y:0.79, Z:-0.10 [[ 9.91850972e-01 -1.27274487e-01 -5.73183205e-03 1.06216889e+01] [ 1.27273265e-01 9.91867522e-01 -5.78958083e-04 7.90114366e-01] [ 5.75890464e-03 -1.55268839e-04 9.99983405e-01 -1.02210236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters 0.06272465851940241 Centerline is valid? [True, True] Translation: X:10.68, Y:0.81, Z:-0.10 [[ 9.91982246e-01 -1.26256705e-01 -5.51981430e-03 1.06818087e+01] [ 1.26255557e-01 9.91997593e-01 -5.57304679e-04 8.06585481e-01] [ 5.54600595e-03 -1.44070884e-04 9.99984610e-01 -1.01911593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391417999998 meters 0.06247506685289121 Centerline is valid? [True, True] Translation: X:10.74, Y:0.84, Z:-0.10 [[ 9.91844851e-01 -1.27356608e-01 -4.90780768e-03 1.07416583e+01] [ 1.27355715e-01 9.91856984e-01 -4.95283677e-04 8.35147784e-01] [ 4.93092098e-03 -1.33792791e-04 9.99987834e-01 -9.74619919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391417999999 meters 0.06165346690577241 Centerline is valid? [True, True] Translation: X:10.80, Y:0.84, Z:-0.10 [[ 9.91787741e-01 -1.27793647e-01 -5.08538565e-03 1.08022096e+01] [ 1.27792699e-01 9.91800768e-01 -5.12333333e-04 8.41562330e-01] [ 5.10916234e-03 -1.41749236e-04 9.99986938e-01 -9.85573296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418 meters 0.06238571947879468 Centerline is valid? [True, True] Translation: X:10.86, Y:0.85, Z:-0.10 [[ 9.91502332e-01 -1.29975290e-01 -5.43603219e-03 1.08626860e+01] [ 1.29974237e-01 9.91517220e-01 -5.48094665e-04 8.49983527e-01] [ 5.46115828e-03 -1.63106996e-04 9.99985074e-01 -1.02320912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391417999998 meters 0.06241465382311625 Centerline is valid? [True, True] Translation: X:10.92, Y:0.86, Z:-0.10 [[ 9.91430962e-01 -1.30534734e-01 -5.03288339e-03 1.09235590e+01] [ 1.30533840e-01 9.91443725e-01 -5.07172086e-04 8.63981269e-01] [ 5.05602422e-03 -1.54135485e-04 9.99987206e-01 -1.03391268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391417999998 meters 0.0622575407166331 Centerline is valid? [True, True] Translation: X:10.98, Y:0.89, Z:-0.10 [[ 9.91779555e-01 -1.27927133e-01 -2.82177059e-03 1.09826235e+01] [ 1.27926841e-01 9.91783566e-01 -2.84392479e-04 8.85046193e-01] [ 2.83496722e-03 -7.89255520e-05 9.99995978e-01 -1.01758232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391417999999 meters 0.061980986023356846 Centerline is valid? [True, True] Translation: X:11.04, Y:0.90, Z:-0.10 [[ 9.92254470e-01 -1.24219159e-01 -8.17167812e-04 1.10421451e+01] [ 1.24219133e-01 9.92254806e-01 -8.23079246e-05 9.02506991e-01] [ 8.21062910e-04 -1.98374710e-05 9.99999663e-01 -9.99729832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418 meters 0.06172185539756422 Centerline is valid? [True, True] Translation: X:11.10, Y:0.92, Z:-0.10 [[ 9.93112746e-01 -1.17159577e-01 8.40761539e-04 1.11004322e+01] [ 1.17159547e-01 9.93113102e-01 8.47432474e-05 9.24850014e-01] [-8.44899783e-04 1.43436420e-05 9.99999643e-01 -9.91203064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391417999998 meters 0.06106801775198445 Centerline is valid? [True, True] Translation: X:11.16, Y:0.95, Z:-0.10 [[ 9.93898434e-01 -1.10284315e-01 1.80907168e-03 1.11586586e+01] [ 1.10284166e-01 9.93900080e-01 1.82342187e-04 9.48988326e-01] [-1.81814597e-03 1.82823465e-05 9.99998347e-01 -9.86446045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391417999999 meters 0.060804163544643866 Centerline is valid? [True, True] Translation: X:11.22, Y:0.96, Z:-0.10 [[ 9.94315232e-01 -1.06443466e-01 2.64740638e-03 1.12199687e+01] [ 1.06443132e-01 9.94318756e-01 2.66958744e-04 9.63796114e-01] [-2.66078183e-03 1.63570818e-05 9.99996460e-01 -9.97181032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391417999999 meters 0.060915858170555594 Centerline is valid? [True, True] Translation: X:11.28, Y:0.99, Z:-0.10 [[ 9.94879261e-01 -1.01038372e-01 2.55023557e-03 1.12804166e+01] [ 1.01038045e-01 9.94882529e-01 2.57078011e-04 9.85452866e-01] [-2.56315956e-03 1.90923416e-06 9.99996715e-01 -9.90854221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391417999998 meters 0.06139270529155652 Centerline is valid? [True, True] Translation: X:11.34, Y:1.00, Z:-0.10 [[ 9.95206383e-01 -9.77845810e-02 1.55938919e-03 1.13419252e+01] [ 9.77844546e-02 9.95207604e-01 1.57216505e-04 9.99994908e-01] [-1.56728933e-03 -3.97884818e-06 9.99998772e-01 -9.89778437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391417999998 meters 0.06046140735888946 Centerline is valid? [True, True] Translation: X:11.40, Y:1.02, Z:-0.10 [[ 9.95638646e-01 -9.32848443e-02 1.27486928e-03 1.14024514e+01] [ 9.32847561e-02 9.95639462e-01 1.28564021e-04 1.01893190e+00] [-1.28130324e-03 -9.07743798e-06 9.99999179e-01 -1.00008047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391417999999 meters 0.060716485178472154 Centerline is valid? [True, True] Translation: X:11.46, Y:1.03, Z:-0.10 [[ 9.95913757e-01 -9.03040448e-02 9.83728223e-04 1.14631899e+01] [ 9.03039905e-02 9.95914243e-01 9.95588882e-05 1.03023713e+00] [-9.88699519e-04 -1.03174823e-05 9.99999511e-01 -9.89175532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418 meters 0.059944900062919575 Centerline is valid? [True, True] Translation: X:11.52, Y:1.04, Z:-0.10 [[ 9.96081304e-01 -8.84016385e-02 2.68060871e-03 1.15239900e+01] [ 8.84012324e-02 9.96084911e-01 2.69844281e-04 1.04209692e+00] [-2.69396856e-03 -3.18177302e-05 9.99996371e-01 -1.00059323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391417999998 meters 0.06059461064683485 Centerline is valid? [True, True] Translation: X:11.58, Y:1.06, Z:-0.10 [[ 9.96176994e-01 -8.72646093e-02 4.03550240e-03 1.15846985e+01] [ 8.72636831e-02 9.96185166e-01 4.05369291e-04 1.06066045e+00] [-4.05548202e-03 -5.16667595e-05 9.99991775e-01 -1.01175114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391417999999 meters 0.06046925966300767 Centerline is valid? [True, True] Translation: X:11.65, Y:1.07, Z:-0.10 [[ 9.96119409e-01 -8.78804028e-02 4.81235581e-03 1.16467574e+01] [ 8.78790935e-02 9.96131031e-01 4.83253524e-04 1.06654896e+00] [-4.83620547e-03 -5.84727481e-05 9.99988304e-01 -1.01036697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391417999999 meters 0.06029953741853474 Centerline is valid? [True, True] Translation: X:11.71, Y:1.08, Z:-0.10 [[ 9.96009947e-01 -8.91176125e-02 4.71549661e-03 1.17065369e+01] [ 8.91163720e-02 9.96021108e-01 4.72951817e-04 1.07959543e+00] [-4.73888250e-03 -5.08367638e-05 9.99988770e-01 -1.00779888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391417999998 meters 0.060045893818357385 Centerline is valid? [True, True] Translation: X:11.77, Y:1.09, Z:-0.10 [[ 9.95842376e-01 -9.10013399e-02 4.08872217e-03 1.17686187e+01] [ 9.10004244e-02 9.95850769e-01 4.09755778e-04 1.08738517e+00] [-4.10904545e-03 -3.59767146e-05 9.99991557e-01 -1.02448214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391417999998 meters 0.06063644258191009 Centerline is valid? [True, True] Translation: X:11.83, Y:1.10, Z:-0.10 [[ 9.95648943e-01 -9.31404403e-02 2.83556251e-03 1.18287304e+01] [ 9.31400091e-02 9.95652981e-01 2.84028221e-04 1.09690617e+00] [-2.84969078e-03 -1.86880801e-05 9.99995939e-01 -1.04449533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391417999999 meters 0.059539796502062835 Centerline is valid? [True, True] Translation: X:11.89, Y:1.11, Z:-0.10 [[ 9.95810259e-01 -9.13510014e-02 4.11364431e-03 1.18901956e+01] [ 9.13500817e-02 9.95818755e-01 4.11284662e-04 1.10972541e+00] [-4.13401542e-03 -3.37797423e-05 9.99991454e-01 -1.04293752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418 meters 0.059407984072113375 Centerline is valid? [True, True] Translation: X:11.95, Y:1.12, Z:-0.10 [[ 9.96020232e-01 -8.89943688e-02 4.86829472e-03 1.19508037e+01] [ 8.89930536e-02 9.96032128e-01 4.86555581e-04 1.11993908e+00] [-4.89227866e-03 -5.13747895e-05 9.99988031e-01 -1.03260356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391417999998 meters 0.059557324257742295 Centerline is valid? [True, True] Translation: X:12.01, Y:1.13, Z:-0.10 [[ 9.96093300e-01 -8.80469593e-02 6.77274733e-03 1.20115935e+01] [ 8.80443985e-02 9.96116322e-01 6.75915383e-04 1.12901937e+00] [-6.80595646e-03 -7.69723195e-05 9.99976836e-01 -1.02405941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391417999998 meters 0.05954965813642693 Centerline is valid? [True, True] Translation: X:12.07, Y:1.13, Z:-0.10 [[ 9.95900809e-01 -9.01789764e-02 7.02359290e-03 1.20732462e+01] [ 9.01762789e-02 9.95925574e-01 7.00446048e-04 1.13498339e+00] [-7.05814129e-03 -6.42133141e-05 9.99975089e-01 -1.01616379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391417999999 meters 0.05967860332342438 Centerline is valid? [True, True] Translation: X:12.13, Y:1.14, Z:-0.10 [[ 9.95640958e-01 -9.29594602e-02 7.59089379e-03 1.21349445e+01] [ 9.29563964e-02 9.95669893e-01 7.56211690e-04 1.14060158e+00] [-7.62832144e-03 -4.72931998e-05 9.99970903e-01 -1.02645075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391417999998 meters 0.05882574384623909 Centerline is valid? [True, True] Translation: X:12.20, Y:1.14, Z:-0.11 [[ 9.95236285e-01 -9.72876888e-02 6.31208708e-03 1.21975328e+01] [ 9.72856589e-02 9.95256301e-01 6.28564211e-04 1.14343809e+00] [-6.34329600e-03 -1.14943592e-05 9.99979881e-01 -1.05427993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391417999998 meters 0.058496237311995325 Centerline is valid? [True, True] Translation: X:12.26, Y:1.15, Z:-0.11 [[ 9.94890643e-01 -1.00878577e-01 4.01521518e-03 1.22592477e+01] [ 1.00877786e-01 9.94898745e-01 3.99546526e-04 1.14827842e+00] [-4.03503823e-03 7.54091816e-06 9.99991859e-01 -1.07035943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391417999997 meters 0.058479405659193774 Centerline is valid? [True, True] Translation: X:12.32, Y:1.15, Z:-0.11 [[ 9.94335296e-01 -1.06237286e-01 3.31036878e-03 1.23213616e+01] [ 1.06236779e-01 9.94340806e-01 3.29089891e-04 1.15447809e+00] [-3.32659638e-03 2.44572223e-05 9.99994467e-01 -1.08052992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters 0.05838970746822055 Centerline is valid? [True, True] Translation: X:12.38, Y:1.16, Z:-0.11 [[ 9.93970491e-01 -1.09615484e-01 2.66613754e-03 1.23832256e+01] [ 1.09615166e-01 9.93974067e-01 2.65233113e-04 1.15947265e+00] [-2.67914523e-03 2.86152223e-05 9.99996411e-01 -1.08919751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391417999998 meters 0.05849831103881526 Centerline is valid? [True, True] Translation: X:12.44, Y:1.16, Z:-0.11 [[ 9.93346457e-01 -1.15076488e-01 4.49638261e-03 1.24431554e+01] [ 1.15075647e-01 9.93356631e-01 4.46124554e-04 1.16316931e+00] [-4.51784993e-03 7.42678937e-05 9.99989792e-01 -1.08115697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters 0.059281576377538815 Centerline is valid? [True, True] Translation: X:12.50, Y:1.17, Z:-0.11 [[ 9.92819233e-01 -1.19479053e-01 5.89288905e-03 1.25030570e+01] [ 1.19477686e-01 9.92836714e-01 5.84687221e-04 1.16705548e+00] [-5.92053447e-03 1.23580030e-04 9.99982466e-01 -1.06141967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters 0.0585027819787266 Centerline is valid? [True, True] Translation: X:12.56, Y:1.18, Z:-0.11 [[ 9.92354166e-01 -1.23232483e-01 6.85307817e-03 1.25638231e+01] [ 1.23230726e-01 9.92377814e-01 6.79689306e-04 1.17572219e+00] [-6.88460254e-03 1.70017284e-04 9.99976286e-01 -1.07439419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391417999998 meters 0.059405855583941174 Centerline is valid? [True, True] Translation: X:12.62, Y:1.18, Z:-0.11 [[ 9.91557619e-01 -1.29527595e-01 6.00760454e-03 1.26240266e+01] [ 1.29526361e-01 9.91575800e-01 5.95707779e-04 1.17711393e+00] [-6.03415588e-03 1.87464565e-04 9.99981777e-01 -1.08139660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters 0.05894912250261543 Centerline is valid? [True, True] Translation: X:12.68, Y:1.19, Z:-0.11 [[ 9.91012222e-01 -1.33669783e-01 5.21202318e-03 1.26828883e+01] [ 1.33668911e-01 9.91025910e-01 5.16789508e-04 1.18645601e+00] [-5.23432916e-03 1.84540743e-04 9.99986284e-01 -1.08903321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters 0.0598374431454483 Centerline is valid? [True, True] Translation: X:12.74, Y:1.19, Z:-0.11 [[ 9.90724401e-01 -1.35732578e-01 6.46744274e-03 1.27443444e+01] [ 1.35731280e-01 9.90745481e-01 6.41286176e-04 1.18975344e+00] [-6.49463309e-03 2.42496418e-04 9.99978880e-01 -1.09404471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391417999997 meters 0.058940846158702175 Centerline is valid? [True, True] Translation: X:12.80, Y:1.20, Z:-0.11 [[ 9.90180925e-01 -1.39642032e-01 6.46826792e-03 1.28044946e+01] [ 1.39640817e-01 9.90202015e-01 6.41220135e-04 1.20166624e+00] [-6.49443321e-03 2.68310271e-04 9.99978875e-01 -1.10748279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters 0.05734177897877591 Centerline is valid? [True, True] Translation: X:12.87, Y:1.21, Z:-0.11 [[ 9.90028636e-01 -1.40774169e-01 5.09241158e-03 1.28656680e+01] [ 1.40773432e-01 9.90041709e-01 5.04790292e-04 1.21157673e+00] [-5.11276130e-03 2.17119410e-04 9.99986906e-01 -1.11082681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418 meters 0.057733445856778504 Centerline is valid? [True, True] Translation: X:12.93, Y:1.22, Z:-0.11 [[ 9.90031436e-01 -1.40762846e-01 4.85568729e-03 1.29281314e+01] [ 1.40762176e-01 9.90043321e-01 4.81087296e-04 1.22280061e+00] [-4.87505999e-03 2.07205565e-04 9.99988095e-01 -1.11318535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391417999997 meters 0.058215759323502106 Centerline is valid? [True, True] Translation: X:12.99, Y:1.23, Z:-0.11 [[ 9.90064878e-01 -1.40481954e-01 6.02972914e-03 1.29895643e+01] [ 1.40480919e-01 9.90083206e-01 5.96975589e-04 1.23220953e+00] [-6.05379786e-03 2.56017325e-04 9.99981643e-01 -1.11906296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters 0.05712863879530384 Centerline is valid? [True, True] Translation: X:13.05, Y:1.24, Z:-0.11 [[ 9.90133298e-01 -1.39906337e-01 7.89107971e-03 1.30509851e+01] [ 1.39904554e-01 9.90164687e-01 7.80236549e-04 1.24488789e+00] [-7.92262851e-03 3.31459801e-04 9.99968561e-01 -1.10101036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391417999998 meters 0.05949206853743039 Centerline is valid? [True, True] Translation: X:13.11, Y:1.24, Z:-0.11 [[ 9.90264134e-01 -1.38999478e-01 7.48926776e-03 1.31131406e+01] [ 1.38997850e-01 9.90292406e-01 7.40051303e-04 1.24156390e+00] [-7.51943174e-03 3.08145852e-04 9.99971681e-01 -1.08968541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391417999997 meters 0.06392154641787572 Centerline is valid? [True, True] Translation: X:13.17, Y:1.23, Z:-0.11 [[ 9.90117168e-01 -1.40119546e-01 5.87421702e-03 1.31746239e+01] [ 1.40118566e-01 9.90134562e-01 5.80153266e-04 1.23464227e+00] [-5.89755611e-03 2.48667154e-04 9.99982578e-01 -1.11284295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters 0.058299306298357105 Centerline is valid? [True, True] Translation: X:13.23, Y:1.26, Z:-0.11 [[ 9.89869227e-01 -1.41832200e-01 6.52227068e-03 1.32336445e+01] [ 1.41831031e-01 9.89890673e-01 6.43792647e-04 1.26046482e+00] [-6.54764544e-03 2.87789844e-04 9.99978523e-01 -1.13175443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391417999998 meters 0.059739009316390285 Centerline is valid? [True, True] Translation: X:13.29, Y:1.26, Z:-0.11 [[ 9.89530893e-01 -1.44197656e-01 5.97064709e-03 1.32929546e+01] [ 1.44196720e-01 9.89548866e-01 5.89212071e-04 1.26487377e+00] [-5.99321005e-03 2.77904182e-04 9.99982002e-01 -1.11772527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters 0.058914353775318694 Centerline is valid? [True, True] Translation: X:13.35, Y:1.28, Z:-0.11 [[ 9.89304468e-01 -1.45711710e-01 6.69078139e-03 1.33531441e+01] [ 1.45710569e-01 9.89327041e-01 6.60294810e-04 1.27506624e+00] [-6.71558364e-03 3.21684957e-04 9.99977398e-01 -1.12347901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters 0.05775916529292074 Centerline is valid? [True, True] Translation: X:13.41, Y:1.29, Z:-0.12 [[ 9.89380581e-01 -1.45184122e-01 6.90187730e-03 1.34141907e+01] [ 1.45182896e-01 9.89404600e-01 6.81042819e-04 1.28882045e+00] [-6.92762575e-03 3.28223993e-04 9.99975950e-01 -1.15117230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391417999997 meters 0.05670368332441065 Centerline is valid? [True, True] Translation: X:13.47, Y:1.30, Z:-0.11 [[ 9.89627705e-01 -1.43452921e-01 7.63320938e-03 1.34737426e+01] [ 1.43451371e-01 9.89657081e-01 7.52936388e-04 1.30113758e+00] [-7.66227064e-03 3.49867645e-04 9.99970583e-01 -1.13269767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters 0.05685543382136999 Centerline is valid? [True, True] Translation: X:13.53, Y:1.31, Z:-0.11 [[ 9.89786961e-01 -1.42280041e-01 8.84095077e-03 1.35336967e+01] [ 1.42277917e-01 9.89826366e-01 8.71928879e-04 1.30789658e+00] [-8.87506424e-03 3.94848226e-04 9.99960538e-01 -1.13887684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418 meters 0.05903320879758168 Centerline is valid? [True, True] Translation: X:13.60, Y:1.30, Z:-0.12 [[ 9.89903766e-01 -1.41522276e-01 7.87271194e-03 1.35958454e+01] [ 1.41520572e-01 9.89935011e-01 7.75966819e-04 1.30365433e+00] [-7.90328976e-03 3.46018221e-04 9.99968709e-01 -1.15191165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391417999997 meters 0.05924068123771967 Centerline is valid? [True, True] Translation: X:13.66, Y:1.31, Z:-0.12 [[ 9.90063827e-01 -1.40426778e-01 7.34429610e-03 1.36567774e+01] [ 1.40425270e-01 9.90091016e-01 7.23235534e-04 1.31300908e+00] [-7.37308323e-03 3.15275423e-04 9.99972769e-01 -1.15687811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters 0.0570096902338507 Centerline is valid? [True, True] Translation: X:13.72, Y:1.33, Z:-0.12 [[ 9.90260687e-01 -1.39041628e-01 7.15519700e-03 1.37173173e+01] [ 1.39040161e-01 9.90286493e-01 7.04503526e-04 1.32520126e+00] [-7.18365026e-03 2.97217593e-04 9.99974153e-01 -1.16246780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391417999998 meters 0.05847961518104924 Centerline is valid? [True, True] Translation: X:13.78, Y:1.33, Z:-0.12 [[ 9.90433282e-01 -1.37794898e-01 7.38102029e-03 1.37777312e+01] [ 1.37793303e-01 9.90460740e-01 7.26576289e-04 1.32635741e+00] [-7.41072932e-03 2.97429827e-04 9.99972496e-01 -1.16884995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391417999997 meters 0.059340027698004026 Centerline is valid? [True, True] Translation: X:13.84, Y:1.33, Z:-0.12 [[ 9.90555507e-01 -1.36920271e-01 7.25442922e-03 1.38402226e+01] [ 1.36918709e-01 9.90582030e-01 7.13794998e-04 1.32827939e+00] [-7.28384022e-03 2.86213519e-04 9.99973432e-01 -1.17456835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters 0.05646936852071187 Centerline is valid? [True, True] Translation: X:13.90, Y:1.35, Z:-0.12 [[ 9.90494428e-01 -1.37367072e-01 7.14677408e-03 1.39009011e+01] [ 1.37365570e-01 9.90520169e-01 7.02852507e-04 1.35024091e+00] [-7.17557267e-03 2.85549207e-04 9.99974214e-01 -1.18166660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391417999998 meters 0.057152728814677964 Centerline is valid? [True, True] Translation: X:13.96, Y:1.36, Z:-0.12 [[ 9.90098670e-01 -1.40118384e-01 8.45353675e-03 1.39618702e+01] [ 1.40116390e-01 9.90134692e-01 8.30543695e-04 1.35578119e+00] [-8.48651444e-03 3.62158845e-04 9.99963923e-01 -1.19166627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391417999997 meters 0.05767482580675008 Centerline is valid? [True, True] Translation: X:14.02, Y:1.35, Z:-0.12 [[ 9.89557148e-01 -1.43834853e-01 9.39078387e-03 1.40219693e+01] [ 1.43832562e-01 9.89601608e-01 9.22420480e-04 1.35453393e+00] [-9.42581104e-03 4.37912725e-04 9.99955480e-01 -1.19740242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters 0.056721828155417736 Centerline is valid? [True, True] Translation: X:14.08, Y:1.37, Z:-0.12 [[ 9.88839095e-01 -1.48782296e-01 7.81487345e-03 1.40812374e+01] [ 1.48780865e-01 9.88869893e-01 7.67419880e-04 1.36752017e+00] [-7.84207157e-03 4.03848856e-04 9.99969169e-01 -1.20647785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391417999998 meters 0.057829910747368714 Centerline is valid? [True, True] Translation: X:14.14, Y:1.37, Z:-0.12 [[ 9.88481559e-01 -1.51170994e-01 7.17904878e-03 1.41416198e+01] [ 1.51169849e-01 9.88507552e-01 7.04917302e-04 1.36623595e+00] [-7.20310699e-03 3.88457969e-04 9.99973982e-01 -1.22201736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters 0.05797682729130918 Centerline is valid? [True, True] Translation: X:14.20, Y:1.37, Z:-0.12 [[ 9.88028349e-01 -1.54076894e-01 7.76481201e-03 1.42023072e+01] [ 1.54075644e-01 9.88058761e-01 7.62450822e-04 1.36564792e+00] [-7.78956659e-03 4.43045388e-04 9.99969563e-01 -1.23360798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters 0.05680117167251181 Centerline is valid? [True, True] Translation: X:14.26, Y:1.37, Z:-0.12 [[ 9.87702216e-01 -1.56062363e-01 9.42717504e-03 1.42621001e+01] [ 1.56060612e-01 9.87747047e-01 9.25636070e-04 1.37373846e+00] [-9.45612126e-03 5.56957911e-04 9.99955135e-01 -1.22843314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391417999997 meters 0.05765318797402262 Centerline is valid? [True, True] Translation: X:14.32, Y:1.38, Z:-0.12 [[ 9.87701473e-01 -1.56014435e-01 1.02613734e-02 1.43240218e+01] [ 1.56012360e-01 9.87754589e-01 1.00734596e-03 1.37567522e+00] [-1.02928792e-02 6.05943989e-04 9.99946843e-01 -1.22325708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters 0.05928124190614678 Centerline is valid? [True, True] Translation: X:14.38, Y:1.37, Z:-0.12 [[ 9.87922624e-01 -1.54663640e-01 9.38333737e-03 1.43841981e+01] [ 1.54661845e-01 9.87967037e-01 9.20932860e-04 1.37395700e+00] [-9.41286284e-03 5.41433866e-04 9.99955551e-01 -1.23837146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418 meters 0.058453793854876174 Centerline is valid? [True, True] Translation: X:14.44, Y:1.38, Z:-0.13 [[ 9.88239008e-01 -1.52682791e-01 8.46331134e-03 1.44440318e+01] [ 1.52681259e-01 9.88275135e-01 8.30626330e-04 1.38343346e+00] [-8.49090251e-03 4.71331686e-04 9.99963841e-01 -1.25394513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391417999997 meters 0.057714238801051386 Centerline is valid? [True, True] Translation: X:14.50, Y:1.39, Z:-0.12 [[ 9.89238239e-01 -1.46036666e-01 8.99995497e-03 1.45039507e+01] [ 1.46034660e-01 9.89279080e-01 8.83258109e-04 1.39251924e+00] [-9.03245524e-03 4.40552664e-04 9.99959109e-01 -1.23944755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters 0.0569435721566844 Centerline is valid? [True, True] Translation: X:14.56, Y:1.41, Z:-0.13 [[ 9.91098206e-01 -1.32832931e-01 8.93077379e-03 1.45632153e+01] [ 1.32830420e-01 9.91138392e-01 8.76432555e-04 1.40590879e+00] [-8.96805188e-03 3.17647698e-04 9.99959736e-01 -1.26166619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391417999998 meters 0.05794964117179998 Centerline is valid? [True, True] Translation: X:14.62, Y:1.42, Z:-0.13 [[ 9.92584302e-01 -1.21118968e-01 1.03246904e-02 1.46228907e+01] [ 1.21114978e-01 9.92637968e-01 1.01315991e-03 1.41593081e+00] [-1.03713925e-02 2.44828031e-04 9.99946186e-01 -1.26901132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391417999997 meters 0.05734450790732066 Centerline is valid? [True, True] Translation: X:14.68, Y:1.43, Z:-0.13 [[ 9.93315184e-01 -1.14946931e-01 1.05899670e-02 1.46825738e+01] [ 1.14942383e-01 9.93371617e-01 1.03913060e-03 1.42637346e+00] [-1.06392175e-02 1.85051841e-04 9.99943385e-01 -1.26011628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters 0.05757874038015121 Centerline is valid? [True, True] Translation: X:14.74, Y:1.44, Z:-0.12 [[ 9.95246356e-01 -9.66510755e-02 1.19691388e-02 1.47410902e+01] [ 9.66439412e-02 9.95318326e-01 1.17438175e-03 1.44491090e+00] [-1.20266084e-02 -1.20544115e-05 9.99927678e-01 -1.24557555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391417999998 meters 0.05780227594412094 Centerline is valid? [True, True] Translation: X:14.80, Y:1.46, Z:-0.13 [[ 9.96199733e-01 -8.62555116e-02 1.20863414e-02 1.48012209e+01] [ 8.62474724e-02 9.96273039e-01 1.18577524e-03 1.45611816e+00] [-1.21435758e-02 -1.38852581e-04 9.99926254e-01 -1.26559335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391417999996 meters 0.058533522871366546 Centerline is valid? [True, True] Translation: X:14.86, Y:1.47, Z:-0.13 [[ 9.97033162e-01 -7.62195942e-02 1.07446106e-02 1.48615765e+01] [ 7.62126593e-02 9.97091029e-01 1.05400208e-03 1.46681961e+00] [-1.07936904e-02 -2.31999684e-04 9.99941720e-01 -1.28295217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters 0.05776538641893759 Centerline is valid? [True, True] Translation: X:14.92, Y:1.47, Z:-0.13 [[ 9.97278223e-01 -7.31631013e-02 9.12729566e-03 1.49219913e+01] [ 7.31579703e-02 9.97319964e-01 8.95223919e-04 1.47010120e+00] [-9.16833154e-03 -2.25052894e-04 9.99957945e-01 -1.29607193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391417999997 meters 0.05855711445010786 Centerline is valid? [True, True] Translation: X:14.98, Y:1.47, Z:-0.13 [[ 9.97254050e-01 -7.35662697e-02 8.50667499e-03 1.49843672e+01] [ 7.35618301e-02 9.97290310e-01 8.34044591e-04 1.47347260e+00] [-8.54498209e-03 -2.05987766e-04 9.99963470e-01 -1.31042003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters 0.05879143128988292 Centerline is valid? [True, True] Translation: X:15.05, Y:1.47, Z:-0.13 [[ 9.97252789e-01 -7.35758829e-02 8.57110208e-03 1.50473478e+01] [ 7.35713842e-02 9.97289600e-01 8.39419404e-04 1.47431930e+00] [-8.60963199e-03 -2.06525498e-04 9.99962915e-01 -1.33343580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters 0.05874379150178573 Centerline is valid? [True, True] Translation: X:15.11, Y:1.48, Z:-0.13 [[ 9.97318564e-01 -7.26228206e-02 9.03365538e-03 1.51092174e+01] [ 7.26177922e-02 9.97359451e-01 8.83839382e-04 1.48065063e+00] [-9.07398849e-03 -2.25465315e-04 9.99958805e-01 -1.32544391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391417999997 meters 0.05865894465301366 Centerline is valid? [True, True] Translation: X:15.17, Y:1.49, Z:-0.13 [[ 9.97480950e-01 -7.02237560e-02 1.00188959e-02 1.51684167e+01] [ 7.02174524e-02 9.97531227e-01 9.79980747e-04 1.48883833e+00] [-1.00629795e-02 -2.74010778e-04 9.99949329e-01 -1.31319276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters 0.05813670049915782 Centerline is valid? [True, True] Translation: X:15.23, Y:1.49, Z:-0.13 [[ 9.97530053e-01 -6.92664842e-02 1.16596162e-02 1.52306966e+01] [ 6.92578836e-02 9.97598138e-01 1.14028814e-03 1.48602493e+00] [-1.17105952e-02 -3.29951350e-04 9.99931374e-01 -1.32934026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391417999998 meters 0.05809429482753353 Centerline is valid? [True, True] Translation: X:15.29, Y:1.49, Z:-0.13 [[ 9.97509205e-01 -6.97742523e-02 1.03411842e-02 1.52932011e+01] [ 6.97675208e-02 9.97562766e-01 1.01070625e-03 1.48653937e+00] [-1.03865016e-02 -2.86710004e-04 9.99946018e-01 -1.34083316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391417999997 meters 0.0581390662759089 Centerline is valid? [True, True] Translation: X:15.35, Y:1.50, Z:-0.14 [[ 9.97416594e-01 -7.12724394e-02 8.96535786e-03 1.53539491e+01] [ 7.12674464e-02 9.97456858e-01 8.75569567e-04 1.49581057e+00] [-9.00496166e-03 -2.34369454e-04 9.99959427e-01 -1.35038710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters 0.058140195220918116 Centerline is valid? [True, True] Translation: X:15.42, Y:1.49, Z:-0.14 [[ 9.97121376e-01 -7.53136172e-02 8.76469333e-03 1.54154932e+01] [ 7.53090032e-02 9.97159878e-01 8.55752218e-04 1.49486404e+00] [-8.80425033e-03 -1.93228511e-04 9.99961223e-01 -1.36104575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391417999998 meters 0.057763153756079204 Centerline is valid? [True, True] Translation: X:15.48, Y:1.49, Z:-0.14 [[ 9.96782328e-01 -7.96429371e-02 9.05498147e-03 1.54753318e+01] [ 7.96381923e-02 9.96823443e-01 8.83946882e-04 1.49318635e+00] [-9.09661793e-03 -1.59980276e-04 9.99958612e-01 -1.35182777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391417999997 meters 0.05749001975610696 Centerline is valid? [True, True] Translation: X:15.54, Y:1.49, Z:-0.13 [[ 9.96037771e-01 -8.83131705e-02 1.04663058e-02 1.55368745e+01] [ 8.83073122e-02 9.96092754e-01 1.02145368e-03 1.49255616e+00] [-1.05156192e-02 -9.31551111e-05 9.99944705e-01 -1.34171932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters 0.057911244643243605 Centerline is valid? [True, True] Translation: X:15.60, Y:1.49, Z:-0.14 [[ 9.95587356e-01 -9.32540175e-02 1.04645007e-02 1.55993367e+01] [ 9.32484403e-02 9.95642349e-01 1.02068095e-03 1.49145009e+00] [-1.05140826e-02 -4.03786857e-05 9.99944725e-01 -1.36043007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391417999998 meters 0.0576924635459898 Centerline is valid? [True, True] Translation: X:15.66, Y:1.49, Z:-0.14 [[ 9.94906604e-01 -1.00398756e-01 8.99666378e-03 1.56617600e+01] [ 1.00394934e-01 9.94947279e-01 8.76535476e-04 1.48895041e+00] [-9.03920922e-03 3.11485374e-05 9.99959145e-01 -1.38662526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391417999996 meters 0.0574841006724655 Centerline is valid? [True, True] Translation: X:15.72, Y:1.49, Z:-0.14 [[ 9.94503164e-01 -1.04288850e-01 9.34309002e-03 1.57225290e+01] [ 1.04284911e-01 9.94547048e-01 9.09190689e-04 1.49127896e+00] [-9.38696105e-03 7.01502925e-05 9.99955939e-01 -1.38212241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters 0.05778103929932296 Centerline is valid? [True, True] Translation: X:15.78, Y:1.49, Z:-0.14 [[ 9.93925021e-01 -1.09663868e-01 9.32145177e-03 1.57843307e+01] [ 1.09660190e-01 9.93968722e-01 9.06379059e-04 1.49137096e+00] [-9.36462854e-03 1.21319345e-04 9.99956144e-01 -1.38468233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391417999997 meters 0.05781535196364498 Centerline is valid? [True, True] Translation: X:15.85, Y:1.49, Z:-0.14 [[ 9.93445179e-01 -1.13988447e-01 8.56209698e-03 1.58450272e+01] [ 1.13985505e-01 9.93482064e-01 8.32429734e-04 1.49371419e+00] [-8.60117715e-03 1.48981639e-04 9.99962998e-01 -1.40341327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters 0.057455686044330254 Centerline is valid? [True, True] Translation: X:15.91, Y:1.50, Z:-0.14 [[ 9.93161731e-01 -1.16501818e-01 7.55659831e-03 1.59068011e+01] [ 1.16499600e-01 9.93190467e-01 7.34459938e-04 1.49797017e+00] [-7.59070732e-03 1.50903177e-04 9.99971179e-01 -1.41383740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418 meters 0.058500886773137965 Centerline is valid? [True, True] Translation: X:15.97, Y:1.50, Z:-0.14 [[ 9.92596705e-01 -1.21211180e-01 7.72206692e-03 1.59670645e+01] [ 1.21209011e-01 9.92626724e-01 7.49890397e-04 1.49789412e+00] [-7.75602509e-03 1.91645360e-04 9.99969903e-01 -1.41931690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391417999997 meters 0.05759579391214524 Centerline is valid? [True, True] Translation: X:16.03, Y:1.51, Z:-0.14 [[ 9.92099815e-01 -1.25266418e-01 6.80309502e-03 1.60274136e+01] [ 1.25264831e-01 9.92123120e-01 6.60659713e-04 1.50716580e+00] [-6.83226633e-03 1.96748167e-04 9.99976640e-01 -1.41695636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters 0.05828335605633822 Centerline is valid? [True, True] Translation: X:16.09, Y:1.51, Z:-0.14 [[ 9.91815045e-01 -1.27493060e-01 6.95966601e-03 1.60873576e+01] [ 1.27491453e-01 9.91839439e-01 6.75833868e-04 1.51003801e+00] [-6.98903536e-03 2.16995737e-04 9.99975553e-01 -1.41659453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391417999998 meters 0.05691610040094748 Centerline is valid? [True, True] Translation: X:16.15, Y:1.52, Z:-0.14 [[ 9.91378653e-01 -1.30785243e-01 7.97409676e-03 1.61466725e+01] [ 1.30783240e-01 9.91410684e-01 7.74332134e-04 1.52348087e+00] [-8.00687594e-03 2.75221866e-04 9.99967907e-01 -1.42537167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391417999997 meters 0.060947588997909634 Centerline is valid? [True, True] Translation: X:16.21, Y:1.52, Z:-0.14 [[ 9.91321226e-01 -1.31257743e-01 7.32339519e-03 1.62091213e+01] [ 1.31256068e-01 9.91348243e-01 7.10973872e-04 1.51681294e+00] [-7.35335578e-03 2.56436569e-04 9.99972931e-01 -1.41859113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters 0.057127927072650124 Centerline is valid? [True, True] Translation: X:16.27, Y:1.54, Z:-0.14 [[ 9.91325666e-01 -1.31190587e-01 7.90279507e-03 1.62697138e+01] [ 1.31188640e-01 9.91357127e-01 7.66425793e-04 1.54081906e+00] [-7.93504007e-03 2.76979380e-04 9.99968479e-01 -1.43717907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391417999998 meters 0.05754836751987336 Centerline is valid? [True, True] Translation: X:16.33, Y:1.55, Z:-0.14 [[ 9.91411504e-01 -1.30530315e-01 8.06644134e-03 1.63311198e+01] [ 1.30528270e-01 9.91444280e-01 7.81722762e-04 1.55281292e+00] [-8.09946564e-03 2.77889691e-04 9.99967160e-01 -1.44119764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391417999996 meters 0.05727416908647924 Centerline is valid? [True, True] Translation: X:16.39, Y:1.56, Z:-0.14 [[ 9.91344368e-01 -1.31123212e-01 6.56105480e-03 1.63926110e+01] [ 1.31121875e-01 9.91366053e-01 6.35265764e-04 1.56349025e+00] [-6.58770508e-03 2.30530673e-04 9.99978274e-01 -1.44410383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters 0.059315331041691094 Centerline is valid? [True, True] Translation: X:16.45, Y:1.57, Z:-0.15 [[ 9.90897603e-01 -1.34515780e-01 5.23873088e-03 1.64521341e+01] [ 1.34514977e-01 9.90911431e-01 5.07038859e-04 1.56620342e+00] [-5.25932304e-03 2.02264173e-04 9.99986149e-01 -1.45503731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391417999997 meters 0.05825412037049823 Centerline is valid? [True, True] Translation: X:16.51, Y:1.58, Z:-0.15 [[ 9.90303101e-01 -1.38788907e-01 6.11617971e-03 1.65116014e+01] [ 1.38787893e-01 9.90321953e-01 5.91996696e-04 1.58448449e+00] [-6.13914961e-03 2.62595529e-04 9.99981121e-01 -1.45719850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391417999996 meters 0.05738409367324887 Centerline is valid? [True, True] Translation: X:16.57, Y:1.60, Z:-0.15 [[ 9.89904820e-01 -1.41601075e-01 6.13047185e-03 1.65705443e+01] [ 1.41600110e-01 9.89923763e-01 5.93348688e-04 1.60106565e+00] [-6.15271858e-03 2.80716763e-04 9.99981032e-01 -1.45853910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters 0.06429290440851827 Centerline is valid? [True, True] Translation: X:16.63, Y:1.59, Z:-0.15 [[ 9.89467785e-01 -1.44670598e-01 4.89086124e-03 1.66323651e+01] [ 1.44670021e-01 9.89479844e-01 4.73344872e-04 1.58652545e+00] [-4.90788770e-03 2.39201497e-04 9.99987928e-01 -1.45857685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391417999997 meters 0.05534620321467519 Centerline is valid? [True, True] Translation: X:16.69, Y:1.63, Z:-0.15 [[ 9.88813358e-01 -1.49058887e-01 5.43977968e-03 1.66894203e+01] [ 1.49058239e-01 9.88828278e-01 5.26466330e-04 1.62586449e+00] [-5.45748246e-03 2.90267043e-04 9.99985066e-01 -1.45447740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters 0.056343311563227264 Centerline is valid? [True, True] Translation: X:16.75, Y:1.63, Z:-0.14 [[ 9.88169022e-01 -1.53248582e-01 6.07085558e-03 1.67496653e+01] [ 1.53247855e-01 9.88187609e-01 5.87481254e-04 1.62802161e+00] [-6.08917493e-03 3.49814818e-04 9.99981400e-01 -1.44351710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391417999998 meters 0.05598074518105312 Centerline is valid? [True, True] Translation: X:16.81, Y:1.64, Z:-0.14 [[ 9.87100539e-01 -1.59973146e-01 6.41232022e-03 1.68098180e+01] [ 1.59972476e-01 9.87121280e-01 6.20544696e-04 1.63769586e+00] [-6.42900823e-03 4.13254737e-04 9.99979248e-01 -1.43469771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391417999997 meters 0.05504927015281049 Centerline is valid? [True, True] Translation: X:16.87, Y:1.65, Z:-0.15 [[ 9.86052790e-01 -1.66340369e-01 5.54769628e-03 1.68694877e+01] [ 1.66339968e-01 9.86068318e-01 5.36825081e-04 1.65257355e+00] [-5.55970322e-03 3.93465752e-04 9.99984467e-01 -1.45398115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters 0.05373535991932915 Centerline is valid? [True, True] Translation: X:16.93, Y:1.67, Z:-0.15 [[ 9.85558908e-01 -1.69250650e-01 5.27783309e-03 1.69288946e+01] [ 1.69250329e-01 9.85572963e-01 5.10658271e-04 1.67225530e+00] [-5.28811885e-03 3.89991181e-04 9.99985942e-01 -1.45197688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391417999998 meters 0.053828453363437036 Centerline is valid? [True, True] Translation: X:16.99, Y:1.67, Z:-0.15 [[ 9.85593465e-01 -1.69081453e-01 4.12110985e-03 1.69909250e+01] [ 1.69081255e-01 9.85602034e-01 3.98872820e-04 1.67133036e+00] [-4.12921625e-03 3.03675980e-04 9.99991429e-01 -1.46790375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391417999997 meters 0.05311628023761141 Centerline is valid? [True, True] Translation: X:17.05, Y:1.68, Z:-0.15 [[ 9.85637936e-01 -1.68817503e-01 4.30226702e-03 1.70519659e+01] [ 1.68817287e-01 9.85647275e-01 4.15833811e-04 1.68496031e+00] [-4.31071779e-03 3.16435466e-04 9.99990659e-01 -1.47032732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters 0.053777913421892566 Centerline is valid? [True, True] Translation: X:17.11, Y:1.69, Z:-0.15 [[ 9.85781749e-01 -1.67978882e-01 4.17594537e-03 1.71136053e+01] [ 1.67978672e-01 9.85790547e-01 4.03453792e-04 1.68900192e+00] [-4.18437918e-03 3.03752373e-04 9.99991199e-01 -1.46917833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391417999998 meters 0.05891411414163195 Centerline is valid? [True, True] Translation: X:17.18, Y:1.67, Z:-0.15 [[ 9.85882073e-01 -1.67392395e-01 4.04022379e-03 1.71755322e+01] [ 1.67392195e-01 9.85890309e-01 3.90171737e-04 1.67427521e+00] [-4.04852926e-03 2.91638607e-04 9.99991762e-01 -1.49312389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391417999996 meters 0.05391643509378777 Centerline is valid? [True, True] Translation: X:17.23, Y:1.70, Z:-0.15 [[ 9.85680564e-01 -1.68568651e-01 4.29375558e-03 1.72338591e+01] [ 1.68568436e-01 9.85689865e-01 4.14632242e-04 1.70056666e+00] [-4.30220536e-03 3.15096718e-04 9.99990696e-01 -1.49445612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters 0.055148549680694804 Centerline is valid? [True, True] Translation: X:17.29, Y:1.70, Z:-0.15 [[ 9.85444643e-01 -1.69932829e-01 4.65718396e-03 1.72942451e+01] [ 1.69932591e-01 9.85455586e-01 4.49622403e-04 1.69556665e+00] [-4.66585356e-03 3.48329348e-04 9.99989054e-01 -1.48943670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391417999997 meters 0.053250809501353046 Centerline is valid? [True, True] Translation: X:17.35, Y:1.71, Z:-0.15 [[ 9.85033132e-01 -1.72283969e-01 5.28795381e-03 1.73539878e+01] [ 1.72283696e-01 9.85047241e-01 5.10524840e-04 1.70628248e+00] [-5.29683955e-03 4.08144345e-04 9.99985888e-01 -1.49359814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391417999996 meters 0.053809524051844415 Centerline is valid? [True, True] Translation: X:17.42, Y:1.71, Z:-0.15 [[ 9.84626203e-01 -1.74587906e-01 5.50482295e-03 1.74154891e+01] [ 1.74587646e-01 9.84641494e-01 5.31437509e-04 1.70760146e+00] [-5.51305966e-03 4.37806784e-04 9.99984707e-01 -1.50855548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters 0.05181509616677923 Centerline is valid? [True, True] Translation: X:17.47, Y:1.72, Z:-0.15 [[ 9.84111467e-01 -1.77480583e-01 5.02632944e-03 1.74747855e+01] [ 1.77480404e-01 9.84124215e-01 4.85180394e-04 1.72191216e+00] [-5.03264261e-03 4.14603391e-04 9.99987250e-01 -1.51239756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391417999997 meters 0.052980425806653714 Centerline is valid? [True, True] Translation: X:17.54, Y:1.72, Z:-0.15 [[ 9.83991662e-01 -1.78151051e-01 4.75526065e-03 1.75359366e+01] [ 1.78150898e-01 9.84003073e-01 4.59000488e-04 1.71618855e+00] [-4.76096251e-03 3.95501305e-04 9.99988588e-01 -1.51230493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters 0.05178232391309013 Centerline is valid? [True, True] Translation: X:17.60, Y:1.73, Z:-0.15 [[ 9.83827925e-01 -1.79038386e-01 5.27930196e-03 1.75957421e+01] [ 1.79038211e-01 9.83841989e-01 5.09491859e-04 1.72765437e+00] [-5.28521754e-03 4.43944460e-04 9.99985935e-01 -1.50374132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391417999998 meters 0.058530139237664376 Centerline is valid? [True, True] Translation: X:17.66, Y:1.70, Z:-0.15 [[ 9.83640762e-01 -1.80058078e-01 5.47173059e-03 1.76580382e+01] [ 1.80057907e-01 9.83655870e-01 5.27955832e-04 1.70330750e+00] [-5.47736263e-03 4.65909480e-04 9.99984891e-01 -1.50979957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391417999997 meters 0.05337291085937055 Centerline is valid? [True, True] Translation: X:17.72, Y:1.72, Z:-0.15 [[ 9.83325208e-01 -1.81767371e-01 5.67081283e-03 1.77177472e+01] [ 1.81767216e-01 9.83341436e-01 5.46994564e-04 1.72200579e+00] [-5.67577100e-03 4.92894318e-04 9.99983771e-01 -1.51806515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters 0.05272663079749463 Centerline is valid? [True, True] Translation: X:17.78, Y:1.73, Z:-0.15 [[ 9.83096832e-01 -1.82990985e-01 5.90925073e-03 1.77783345e+01] [ 1.82990840e-01 9.83114453e-01 5.69875969e-04 1.72819358e+00] [-5.91375197e-03 5.21095493e-04 9.99982378e-01 -1.52061597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391417999998 meters 0.05326274326298579 Centerline is valid? [True, True] Translation: X:17.84, Y:1.73, Z:-0.15 [[ 9.83032247e-01 -1.83360738e-01 5.14208386e-03 1.78405844e+01] [ 1.83360633e-01 9.83045590e-01 4.95848490e-04 1.73132842e+00] [-5.14582201e-03 4.55420695e-04 9.99986656e-01 -1.52827399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391417999996 meters 0.053268939292174564 Centerline is valid? [True, True] Translation: X:17.90, Y:1.73, Z:-0.15 [[ 9.82816226e-01 -1.84515576e-01 5.12517248e-03 1.79013928e+01] [ 1.84515489e-01 9.82829482e-01 4.94032464e-04 1.72848657e+00] [-5.12832730e-03 4.60130583e-04 9.99986744e-01 -1.53769626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters 0.05382236676550356 Centerline is valid? [True, True] Translation: X:17.96, Y:1.73, Z:-0.15 [[ 9.82598512e-01 -1.85628941e-01 6.48546163e-03 1.79621388e+01] [ 1.85628825e-01 9.82619738e-01 6.25103929e-04 1.73014505e+00] [-6.48877998e-03 5.89662431e-04 9.99978774e-01 -1.54766961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391417999997 meters 0.05144242720985001 Centerline is valid? [True, True] Translation: X:18.02, Y:1.74, Z:-0.15 [[ 9.82388214e-01 -1.86754559e-01 6.01100370e-03 1.80211302e+01] [ 1.86754481e-01 9.82406448e-01 5.79329460e-04 1.74357794e+00] [-6.01344121e-03 5.53455440e-04 9.99981766e-01 -1.53942756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391417999996 meters 0.053463296235378675 Centerline is valid? [True, True] Translation: X:18.08, Y:1.74, Z:-0.15 [[ 9.82041528e-01 -1.88573943e-01 5.85709263e-03 1.80820696e+01] [ 1.88573901e-01 9.82058840e-01 5.64374397e-04 1.73549341e+00] [-5.85843590e-03 5.50255711e-04 9.99982688e-01 -1.54586225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters 0.05493646038765202 Centerline is valid? [True, True] Translation: X:18.14, Y:1.73, Z:-0.16 [[ 9.81151395e-01 -1.93151873e-01 5.85613991e-03 1.81425733e+01] [ 1.93151912e-01 9.81168701e-01 5.64298928e-04 1.72844186e+00] [-5.85485658e-03 5.77461940e-04 9.99982693e-01 -1.55187414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391417999997 meters 0.053045524206353334 Centerline is valid? [True, True] Translation: X:18.20, Y:1.74, Z:-0.16 [[ 9.80478280e-01 -1.96518960e-01 6.53002239e-03 1.82018123e+01] [ 1.96519083e-01 9.80499798e-01 6.29141815e-04 1.74422753e+00] [-6.52632393e-03 6.66414125e-04 9.99978481e-01 -1.55668896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391417999996 meters 0.06015668012238944 Centerline is valid? [True, True] Translation: X:18.27, Y:1.71, Z:-0.16 [[ 9.80387746e-01 -1.97002600e-01 5.46285461e-03 1.82652988e+01] [ 1.97002693e-01 9.80402806e-01 5.26269803e-04 1.71355413e+00] [-5.45947451e-03 5.60248606e-04 9.99984940e-01 -1.56853554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391417999998 meters 0.053630488338384255 Centerline is valid? [True, True] Translation: X:18.32, Y:1.75, Z:-0.16 [[ 9.81025009e-01 -1.93843028e-01 3.84860325e-03 1.83230558e+01] [ 1.93843051e-01 9.81032484e-01 3.70679768e-04 1.75274603e+00] [-3.84745849e-03 3.82378873e-04 9.99992525e-01 -1.56891655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391417999997 meters 0.05823803605333109 Centerline is valid? [True, True] Translation: X:18.39, Y:1.73, Z:-0.16 [[ 9.82308565e-01 -1.87227778e-01 3.95504422e-03 1.83861112e+01] [ 1.87227748e-01 9.82316459e-01 3.80918536e-04 1.72588615e+00] [-3.95642356e-03 3.66314483e-04 9.99992106e-01 -1.56547660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters 0.06635393453693321 Centerline is valid? [True, True] Translation: X:18.45, Y:1.71, Z:-0.16 [[ 9.83417910e-01 -1.81295264e-01 4.60889230e-03 1.84477003e+01] [ 1.81295160e-01 9.83428629e-01 4.43853719e-04 1.71011540e+00] [-4.61298521e-03 3.99076170e-04 9.99989280e-01 -1.57117606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391417999998 meters 0.05439292184871826 Centerline is valid? [True, True] Translation: X:18.50, Y:1.75, Z:-0.16 [[ 9.84021554e-01 -1.77963202e-01 5.53901879e-03 1.85045579e+01] [ 1.77962999e-01 9.84037035e-01 5.33399462e-04 1.75404994e+00] [-5.54552510e-03 4.60863829e-04 9.99984517e-01 -1.57014754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391417999997 meters 0.05595077082705789 Centerline is valid? [True, True] Translation: X:18.57, Y:1.75, Z:-0.16 [[ 9.86029371e-01 -1.66494276e-01 5.07295104e-03 1.85650467e+01] [ 1.66493955e-01 9.86042354e-01 4.88540805e-04 1.75338315e+00] [-5.08348383e-03 3.62900097e-04 9.99987013e-01 -1.56813652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters 0.056327772571695946 Centerline is valid? [True, True] Translation: X:18.63, Y:1.76, Z:-0.16 [[ 9.87833848e-01 -1.55463954e-01 3.90492836e-03 1.86255530e+01] [ 1.55463677e-01 9.87841538e-01 3.76038055e-04 1.76224037e+00] [-3.91591080e-03 2.35611404e-04 9.99992305e-01 -1.57776894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391417999998 meters 0.05619174117159417 Centerline is valid? [True, True] Translation: X:18.69, Y:1.77, Z:-0.16 [[ 9.88535559e-01 -1.50945271e-01 3.60199436e-03 1.86865613e+01] [ 1.50945006e-01 9.88542101e-01 3.46857651e-04 1.76603761e+00] [-3.61307960e-03 2.00821939e-04 9.99993453e-01 -1.58464682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391417999996 meters 0.05610031573827101 Centerline is valid? [True, True] Translation: X:18.75, Y:1.78, Z:-0.16 [[ 9.89077517e-01 -1.47331857e-01 4.35756432e-03 1.87463038e+01] [ 1.47331435e-01 9.89087090e-01 4.19551650e-04 1.77516834e+00] [-4.37182394e-03 2.27037098e-04 9.99990418e-01 -1.57671178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters 0.05819193611085757 Centerline is valid? [True, True] Translation: X:18.81, Y:1.78, Z:-0.16 [[ 9.89387487e-01 -1.45231926e-01 4.48191415e-03 1.88065785e+01] [ 1.45231457e-01 9.89397613e-01 4.31525709e-04 1.77750754e+00] [-4.49706647e-03 2.23968786e-04 9.99989863e-01 -1.58083420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391417999997 meters 0.058309125815602866 Centerline is valid? [True, True] Translation: X:18.87, Y:1.78, Z:-0.16 [[ 9.89483423e-01 -1.44615610e-01 2.98006279e-03 1.88691919e+01] [ 1.44615400e-01 9.89487900e-01 2.87074322e-04 1.78057003e+00] [-2.99025150e-03 1.46907688e-04 9.99995518e-01 -1.59294953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391417999996 meters 0.05601653826863373 Centerline is valid? [True, True] Translation: X:18.93, Y:1.80, Z:-0.16 [[ 9.89100332e-01 -1.47178518e-01 4.36082881e-03 1.89285208e+01] [ 1.47178094e-01 9.89109919e-01 4.19683157e-04 1.79504370e+00] [-4.37510738e-03 2.26709723e-04 9.99990403e-01 -1.57716867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters 0.057323417789393434 Centerline is valid? [True, True] Translation: X:18.99, Y:1.79, Z:-0.16 [[ 9.88539777e-01 -1.50865621e-01 5.35486554e-03 1.89889359e+01] [ 1.50865036e-01 9.88554235e-01 5.15326355e-04 1.79406720e+00] [-5.37132003e-03 2.98441384e-04 9.99985530e-01 -1.57095928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391417999997 meters 0.057405102701054776 Centerline is valid? [True, True] Translation: X:19.05, Y:1.80, Z:-0.16 [[ 9.87327568e-01 -1.58631851e-01 4.49553735e-03 1.90494379e+01] [ 1.58631519e-01 9.87337761e-01 4.32618310e-04 1.79872119e+00] [-4.50724082e-03 2.85997933e-04 9.99989801e-01 -1.57753694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391417999996 meters 0.0551597060396409 Centerline is valid? [True, True] Translation: X:19.11, Y:1.82, Z:-0.16 [[ 9.86473025e-01 -1.63916076e-01 1.57816028e-03 1.91087397e+01] [ 1.63916042e-01 9.86474281e-01 1.51892684e-04 1.81577436e+00] [-1.58171218e-03 1.08847751e-04 9.99998743e-01 -1.58052998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391417999998 meters 0.055529647795074834 Centerline is valid? [True, True] Translation: X:19.17, Y:1.81, Z:-0.16 [[ 9.85622869e-01 -1.68959872e-01 3.50144171e-04 1.91697380e+01] [ 1.68959871e-01 9.85622930e-01 3.37588500e-05 1.81493303e+00] [-3.50814015e-04 2.58868193e-05 9.99999938e-01 -1.58859283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391417999997 meters 0.05538805782141331 Centerline is valid? [True, True] Translation: X:19.23, Y:1.83, Z:-0.16 [[ 9.85258813e-01 -1.71062659e-01 1.62428668e-03 1.92299699e+01] [ 1.71062632e-01 9.85260144e-01 1.56305608e-04 1.82637178e+00] [-1.62708298e-03 1.23853277e-04 9.99998669e-01 -1.57345405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters 0.055643882882143184 Centerline is valid? [True, True] Translation: X:19.29, Y:1.83, Z:-0.16 [[ 9.85774318e-01 -1.68058154e-01 2.33487961e-03 1.92897967e+01] [ 1.68058090e-01 9.85777068e-01 2.24631830e-04 1.82704958e+00] [-2.33942198e-03 1.70959119e-04 9.99997249e-01 -1.57372408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391417999998 meters 0.05670034318102034 Centerline is valid? [True, True] Translation: X:19.35, Y:1.84, Z:-0.16 [[ 9.86417897e-01 -1.64234868e-01 2.57675066e-03 1.93495916e+01] [ 1.64234778e-01 9.86421247e-01 2.47867127e-04 1.83619990e+00] [-2.58247002e-03 1.78691503e-04 9.99996649e-01 -1.57208449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391417999996 meters 0.0562656246036187 Centerline is valid? [True, True] Translation: X:19.41, Y:1.84, Z:-0.16 [[ 9.87084718e-01 -1.60183177e-01 2.26026270e-03 1.94094043e+01] [ 1.60183097e-01 9.87087295e-01 2.17399958e-04 1.84314468e+00] [-2.26590041e-03 1.47463703e-04 9.99997422e-01 -1.57002187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters 0.05743774518920155 Centerline is valid? [True, True] Translation: X:19.47, Y:1.84, Z:-0.16 [[ 9.87329924e-01 -1.58668942e-01 1.94620176e-03 1.94693827e+01] [ 1.58668880e-01 9.87331835e-01 1.87184855e-04 1.84273355e+00] [-1.95124737e-03 1.23988445e-04 9.99998089e-01 -1.57846250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391417999997 meters 0.055475802525314324 Centerline is valid? [True, True] Translation: X:19.53, Y:1.86, Z:-0.16 [[ 9.87415254e-01 -1.58148226e-01 5.04665999e-04 1.95308477e+01] [ 1.58148222e-01 9.87415382e-01 4.87624470e-05 1.85811686e+00] [-5.06026665e-04 3.16632464e-05 9.99999871e-01 -1.58993863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391417999996 meters 0.06078875905318612 Centerline is valid? [True, True] Translation: X:19.59, Y:1.85, Z:-0.16 [[ 9.87872448e-01 -1.55260209e-01 -1.51479491e-03 1.95921811e+01] [ 1.55260167e-01 9.87873605e-01 -1.45631197e-04 1.84610192e+00] [ 1.51903664e-03 -9.13222637e-05 9.99998842e-01 -1.61749966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters 0.06021422477169741 Centerline is valid? [True, True] Translation: X:19.65, Y:1.86, Z:-0.16 [[ 9.88385959e-01 -1.51950910e-01 -2.02878768e-03 1.96525410e+01] [ 1.51950829e-01 9.88388035e-01 -1.94990827e-04 1.85679036e+00] [ 2.03485850e-03 -1.15549775e-04 9.99997923e-01 -1.61516206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391417999997 meters 0.05770271376533528 Centerline is valid? [True, True] Translation: X:19.71, Y:1.87, Z:-0.16 [[ 9.88659213e-01 -1.50163707e-01 -1.95479044e-03 1.97120690e+01] [ 1.50163628e-01 9.88661140e-01 -1.87851477e-04 1.87430820e+00] [ 1.96083382e-03 -1.07817332e-04 9.99998072e-01 -1.60071850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391417999996 meters 0.06070362698766646 Centerline is valid? [True, True] Translation: X:19.77, Y:1.87, Z:-0.16 [[ 9.88928339e-01 -1.48392157e-01 -7.12691323e-04 1.97725358e+01] [ 1.48392146e-01 9.88928595e-01 -6.85074032e-05 1.86983046e+00] [ 7.14966790e-04 -3.80088826e-05 9.99999744e-01 -1.59712880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391417999998 meters 0.05816239699771163 Centerline is valid? [True, True] Translation: X:19.83, Y:1.89, Z:-0.16 [[ 9.88950354e-01 -1.48247031e-01 -1.19554764e-04 1.98332379e+01] [ 1.48247030e-01 9.88950362e-01 -1.08262216e-05 1.88792597e+00] [ 1.19838682e-04 -7.01704297e-06 9.99999993e-01 -1.57371710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391417999997 meters 0.05855529237210476 Centerline is valid? [True, True] Translation: X:19.89, Y:1.89, Z:-0.16 [[ 9.88695437e-01 -1.49903540e-01 -3.20342923e-03 1.98936652e+01] [ 1.49903328e-01 9.88700611e-01 -3.07544073e-04 1.89214545e+00] [ 3.21333438e-03 -1.76137281e-04 9.99994822e-01 -1.58228425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391417999996 meters 0.057338121629974266 Centerline is valid? [True, True] Translation: X:19.95, Y:1.90, Z:-0.16 [[ 9.88388982e-01 -1.51919986e-01 -2.74544903e-03 1.99536284e+01] [ 1.51919838e-01 9.88392783e-01 -2.63552953e-04 1.90063420e+00] [ 2.75362097e-03 -1.56595337e-04 9.99996197e-01 -1.56966839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391417999998 meters 0.05766884723157643 Centerline is valid? [True, True] Translation: X:20.01, Y:1.91, Z:-0.15 [[ 9.87912035e-01 -1.55015445e-01 1.51716049e-04 2.00141888e+01] [ 1.55015445e-01 9.87912047e-01 1.46509283e-05 1.91199954e+00] [-1.52153233e-04 9.04450241e-06 9.99999988e-01 -1.54391423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391417999997 meters 0.05821559985807375 Centerline is valid? [True, True] Translation: X:20.08, Y:1.91, Z:-0.16 [[ 9.87649982e-01 -1.56673612e-01 9.44515412e-04 2.00752421e+01] [ 1.56673597e-01 9.87650432e-01 9.07484918e-05 1.91401295e+00] [-9.47068948e-04 5.83528805e-05 9.99999550e-01 -1.55010972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters 0.058910207158126254 Centerline is valid? [True, True] Translation: X:20.14, Y:1.91, Z:-0.16 [[ 9.87358869e-01 -1.58499061e-01 7.14586383e-04 2.01356144e+01] [ 1.58499053e-01 9.87359127e-01 6.85628368e-05 1.91409997e+00] [-7.16420533e-04 4.55651398e-05 9.99999742e-01 -1.55643768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391417999998 meters 0.06475475725703966 Centerline is valid? [True, True] Translation: X:20.20, Y:1.90, Z:-0.16 [[ 9.87399197e-01 -1.58238580e-01 1.83772065e-03 2.01986029e+01] [ 1.58238524e-01 9.87400900e-01 1.76809754e-04 1.89741608e+00] [-1.84254515e-03 1.16216394e-04 9.99998296e-01 -1.55725806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391417999996 meters 0.05794089631931097 Centerline is valid? [True, True] Translation: X:20.26, Y:1.92, Z:-0.15 [[ 9.87130810e-01 -1.59867555e-01 3.88958902e-03 2.02579129e+01] [ 1.59867321e-01 9.87138440e-01 3.72954038e-04 1.92238811e+00] [-3.89918609e-03 2.53663756e-04 9.99992366e-01 -1.53765661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters 0.06096040555787954 Centerline is valid? [True, True] Translation: X:20.32, Y:1.91, Z:-0.16 [[ 9.86832799e-01 -1.61729483e-01 2.14508200e-03 2.03186525e+01] [ 1.61729416e-01 9.86835120e-01 2.05671923e-04 1.91371389e+00] [-2.15010547e-03 1.43959061e-04 9.99997678e-01 -1.55921752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391417999997 meters 0.0593152778664619 Centerline is valid? [True, True] Translation: X:20.38, Y:1.93, Z:-0.16 [[ 9.86976467e-01 -1.60864413e-01 3.06797691e-04 2.03783879e+01] [ 1.60864411e-01 9.86976515e-01 2.94977433e-05 1.93210231e+00] [-3.07547253e-04 2.02392515e-05 9.99999953e-01 -1.56328997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391417999996 meters 0.058965559566813874 Centerline is valid? [True, True] Translation: X:20.44, Y:1.94, Z:-0.16 [[ 9.87168575e-01 -1.59681383e-01 -2.46348830e-04 2.04389083e+01] [ 1.59681382e-01 9.87168605e-01 -2.35579629e-05 1.94084105e+00] [ 2.46949599e-04 -1.60816409e-05 9.99999969e-01 -1.56649187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters 0.05891685397626387 Centerline is valid? [True, True] Translation: X:20.50, Y:1.94, Z:-0.16 [[ 9.87886049e-01 -1.55180949e-01 -1.67250842e-04 2.04990078e+01] [ 1.55180948e-01 9.87886063e-01 -1.60247934e-05 1.94333050e+00] [ 1.67711518e-04 -1.01234744e-05 9.99999986e-01 -1.55968979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391417999997 meters 0.060378281770989355 Centerline is valid? [True, True] Translation: X:20.56, Y:1.95, Z:-0.15 [[ 9.88622084e-01 -1.50379973e-01 3.49827139e-03 2.05589396e+01] [ 1.50379725e-01 9.88628255e-01 3.35220636e-04 1.94528502e+00] [-3.50890041e-03 1.94662568e-04 9.99993825e-01 -1.54043555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391417999996 meters 0.0627549685901743 Centerline is valid? [True, True] Translation: X:20.62, Y:1.94, Z:-0.15 [[ 9.89145946e-01 -1.46884142e-01 3.91736089e-03 2.06195816e+01] [ 1.46883804e-01 9.89153682e-01 3.75383063e-04 1.94048817e+00] [-3.93000977e-03 2.04088234e-04 9.99992257e-01 -1.53765743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391417999998 meters 0.061133297034640856 Centerline is valid? [True, True] Translation: X:20.68, Y:1.96, Z:-0.15 [[ 9.89456552e-01 -1.44791912e-01 3.32165922e-03 2.06795814e+01] [ 1.44791658e-01 9.89462114e-01 3.18345904e-04 1.95671801e+00] [-3.33274987e-03 1.65959104e-04 9.99994433e-01 -1.53486432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391417999997 meters 0.06224277848556064 Centerline is valid? [True, True] Translation: X:20.74, Y:1.96, Z:-0.15 [[ 9.89209092e-01 -1.46454549e-01 4.05431992e-03 2.07397006e+01] [ 1.46454183e-01 9.89217378e-01 3.88447938e-04 1.95760676e+00] [-4.06749368e-03 2.09515880e-04 9.99991706e-01 -1.53872028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391417999995 meters 0.05981056063360286 Centerline is valid? [True, True] Translation: X:20.80, Y:1.97, Z:-0.15 [[ 9.88742782e-01 -1.49556774e-01 4.52570348e-03 2.07996724e+01] [ 1.49556351e-01 9.88753109e-01 4.33629982e-04 1.97082027e+00] [-4.53965568e-03 2.48099182e-04 9.99989665e-01 -1.53736922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391417999998 meters 0.06119831912139217 Centerline is valid? [True, True] Translation: X:20.86, Y:1.98, Z:-0.15 [[ 9.88437276e-01 -1.51581563e-01 3.84469519e-03 2.08591426e+01] [ 1.51581273e-01 9.88444729e-01 3.68305969e-04 1.97534456e+00] [-3.85609709e-03 2.18736442e-04 9.99992541e-01 -1.53087349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391417999996 meters 0.059487301556191 Centerline is valid? [True, True] Translation: X:20.92, Y:1.99, Z:-0.15 [[ 9.88173494e-01 -1.53261928e-01 4.89160570e-03 2.09187811e+01] [ 1.53261480e-01 9.88185559e-01 4.68646926e-04 1.99317695e+00] [-4.90563984e-03 2.86590257e-04 9.99987926e-01 -1.54075583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters 0.06009708133162643 Centerline is valid? [True, True] Translation: X:20.98, Y:1.99, Z:-0.16 [[ 9.87799194e-01 -1.55636481e-01 5.48074674e-03 2.09787823e+01] [ 1.55635955e-01 9.87814342e-01 5.24987813e-04 1.99477340e+00] [-5.49566749e-03 3.34418713e-04 9.99984843e-01 -1.55000179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391417999997 meters 0.05975337713514304 Centerline is valid? [True, True] Translation: X:21.04, Y:2.00, Z:-0.15 [[ 9.87375302e-01 -1.58229791e-01 7.30389952e-03 2.10387676e+01] [ 1.58228928e-01 9.87402206e-01 6.99505145e-04 2.00436229e+00] [-7.32256905e-03 4.65014089e-04 9.99973082e-01 -1.52601761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391417999996 meters 0.05947960265657064 Centerline is valid? [True, True] Translation: X:21.10, Y:2.01, Z:-0.15 [[ 9.87380763e-01 -1.58174390e-01 7.75189390e-03 2.11003357e+01] [ 1.58173417e-01 9.87411069e-01 7.42241972e-04 2.00783066e+00] [-7.77170951e-03 4.93268103e-04 9.99969678e-01 -1.52664292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters 0.05921763743445857 Centerline is valid? [True, True] Translation: X:21.16, Y:2.02, Z:-0.15 [[ 9.87130623e-01 -1.59771297e-01 6.80196593e-03 2.11600460e+01] [ 1.59770589e-01 9.87153957e-01 6.50860546e-04 2.01962668e+00] [-6.81857642e-03 4.44269724e-04 9.99976655e-01 -1.54555170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391417999997 meters 0.06182415238737425 Centerline is valid? [True, True] Translation: X:21.22, Y:2.02, Z:-0.15 [[ 9.86868328e-01 -1.61412577e-01 6.07321265e-03 2.12208336e+01] [ 1.61412043e-01 9.86886931e-01 5.81095489e-04 2.01588231e+00] [-6.08737031e-03 4.06824930e-04 9.99981389e-01 -1.54602808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391417999996 meters 0.05919109918244941 Centerline is valid? [True, True] Translation: X:21.28, Y:2.03, Z:-0.16 [[ 9.86387658e-01 -1.64267106e-01 7.46360554e-03 2.12806843e+01] [ 1.64266382e-01 9.86415757e-01 7.14133938e-04 2.03152286e+00] [-7.47952683e-03 5.21606577e-04 9.99971892e-01 -1.55752464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391417999998 meters 0.06438052221264662 Centerline is valid? [True, True] Translation: X:21.34, Y:2.02, Z:-0.16 [[ 9.85942443e-01 -1.66972583e-01 6.13633396e-03 2.13422039e+01] [ 1.66972146e-01 9.85961438e-01 5.87071286e-04 2.01746945e+00] [-6.14821347e-03 4.45778354e-04 9.99981000e-01 -1.56309067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391417999997 meters 0.05975910439820059 Centerline is valid? [True, True] Translation: X:21.40, Y:2.04, Z:-0.16 [[ 9.85392506e-01 -1.70147433e-01 7.17363542e-03 2.14006367e+01] [ 1.70146921e-01 9.85418467e-01 6.86113952e-04 2.04132416e+00] [-7.18577334e-03 5.44480429e-04 9.99974034e-01 -1.55166687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391417999996 meters 0.05821648306506102 Centerline is valid? [True, True] Translation: X:21.46, Y:2.06, Z:-0.16 [[ 9.85107213e-01 -1.71679384e-01 9.48515204e-03 2.14599167e+01] [ 1.71678560e-01 9.85152602e-01 9.07135159e-04 2.05614062e+00] [-9.50005862e-03 7.34771856e-04 9.99954603e-01 -1.56025731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391417999998 meters 0.05810591300253608 Centerline is valid? [True, True] Translation: X:21.52, Y:2.07, Z:-0.16 [[ 9.85043151e-01 -1.71915315e-01 1.16238822e-02 2.15212667e+01] [ 1.71914097e-01 9.85111318e-01 1.11140411e-03 2.06823977e+00] [-1.16418853e-02 9.03528212e-04 9.99931823e-01 -1.57882796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391417999997 meters 0.06636940651496129 Centerline is valid? [True, True] Translation: X:21.58, Y:2.04, Z:-0.15 [[ 9.85587721e-01 -1.68804296e-01 1.10432719e-02 2.15836434e+01] [ 1.68803004e-01 9.85649244e-01 1.05568626e-03 2.04345672e+00] [-1.10629970e-02 8.23666062e-04 9.99938464e-01 -1.54847172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391417999995 meters 0.05750757500037561 Centerline is valid? [True, True] Translation: X:21.64, Y:2.08, Z:-0.16 [[ 9.85922480e-01 -1.66679756e-01 1.32182349e-02 2.16407183e+01] [ 1.66677717e-01 9.86010620e-01 1.26355207e-03 2.08051865e+00] [-1.32439285e-02 9.57420826e-04 9.99911837e-01 -1.57722032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391417999998 meters 0.06089222178541454 Centerline is valid? [True, True] Translation: X:21.70, Y:2.07, Z:-0.16 [[ 9.86127755e-01 -1.65571252e-01 1.17562914e-02 2.17018950e+01] [ 1.65569561e-01 9.86197474e-01 1.12374412e-03 2.07295600e+00] [-1.17800846e-02 8.38328746e-04 9.99930261e-01 -1.58558291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391417999996 meters 0.06233847734279528 Centerline is valid? [True, True] Translation: X:21.76, Y:2.07, Z:-0.16 [[ 9.86078721e-01 -1.65889682e-01 1.13740432e-02 2.17633524e+01] [ 1.65888126e-01 9.86143980e-01 1.08668023e-03 2.07118205e+00] [-1.13967132e-02 8.15266457e-04 9.99934723e-01 -1.58690014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters 0.058197833757494356 Centerline is valid? [True, True] Translation: X:21.82, Y:2.10, Z:-0.16 [[ 9.85978634e-01 -1.66358988e-01 1.30698533e-02 2.18230402e+01] [ 1.66356992e-01 9.86064803e-01 1.24733404e-03 2.09658965e+00] [-1.30952276e-02 9.44416779e-04 9.99913808e-01 -1.59272313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391417999997 meters 0.057426502765177974 Centerline is valid? [True, True] Translation: X:21.88, Y:2.11, Z:-0.16 [[ 9.86118038e-01 -1.65352022e-01 1.51632609e-02 2.18832760e+01] [ 1.65349231e-01 9.86234019e-01 1.44622546e-03 2.11130089e+00] [-1.51936600e-02 1.08108451e-03 9.99883985e-01 -1.61658523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391417999996 meters 0.0586820766514807 Centerline is valid? [True, True] Translation: X:21.94, Y:2.10, Z:-0.16 [[ 9.86015285e-01 -1.66039685e-01 1.43066801e-02 2.19449626e+01] [ 1.66037277e-01 9.86118533e-01 1.36426396e-03 2.10314986e+00] [-1.43346043e-02 1.03025708e-03 9.99896724e-01 -1.59817336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters 0.059273916438466474 Centerline is valid? [True, True] Translation: X:22.00, Y:2.10, Z:-0.16 [[ 9.85692189e-01 -1.67749211e-01 1.64654153e-02 2.20049244e+01] [ 1.67746263e-01 9.85828954e-01 1.56982995e-03 2.10455318e+00] [-1.64954208e-02 1.21464276e-03 9.99863204e-01 -1.57058858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391417999997 meters 0.06109444591331788 Centerline is valid? [True, True] Translation: X:22.07, Y:2.10, Z:-0.16 [[ 9.85511761e-01 -1.68708996e-01 1.74311260e-02 2.20665889e+01] [ 1.68705846e-01 9.85665043e-01 1.66162264e-03 2.10442819e+00] [-1.74615822e-02 1.30318420e-03 9.99846686e-01 -1.57901754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391417999996 meters 0.0581847281945235 Centerline is valid? [True, True] Translation: X:22.13, Y:2.12, Z:-0.16 [[ 9.85208953e-01 -1.70535062e-01 1.67663796e-02 2.21265641e+01] [ 1.70532414e-01 9.85350771e-01 1.59809091e-03 2.11824633e+00] [-1.67932956e-02 1.28475770e-03 9.99858157e-01 -1.62260176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391417999998 meters 0.057992806975217207 Centerline is valid? [True, True] Translation: X:22.19, Y:2.12, Z:-0.16 [[ 9.85140601e-01 -1.71078639e-01 1.51688720e-02 2.21880668e+01] [ 1.71076544e-01 9.85256681e-01 1.44527838e-03 2.12417027e+00] [-1.51924887e-02 1.17123577e-03 9.99883902e-01 -1.62544246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391417999997 meters 0.059726180495960825 Centerline is valid? [True, True] Translation: X:22.25, Y:2.12, Z:-0.16 [[ 9.85406217e-01 -1.69444589e-01 1.62209281e-02 2.22495736e+01] [ 1.69441981e-01 9.85538953e-01 1.54503233e-03 2.12137295e+00] [-1.62481539e-02 1.22602172e-03 9.99867238e-01 -1.64478428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391417999995 meters 0.05897759622591173 Centerline is valid? [True, True] Translation: X:22.31, Y:2.13, Z:-0.17 [[ 9.85389629e-01 -1.69528270e-01 1.63537441e-02 2.23114536e+01] [ 1.69525650e-01 9.85524546e-01 1.55645183e-03 2.13013076e+00] [-1.63808789e-02 1.23866761e-03 9.99865057e-01 -1.65318936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391417999998 meters 0.05948689323159685 Centerline is valid? [True, True] Translation: X:22.37, Y:2.13, Z:-0.16 [[ 9.85447178e-01 -1.69236892e-01 1.58976037e-02 2.23730202e+01] [ 1.69234405e-01 9.85574671e-01 1.51137598e-03 2.13226784e+00] [-1.59240561e-02 1.20104031e-03 9.99872483e-01 -1.64714377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391417999996 meters 0.0604160282661092 Centerline is valid? [True, True] Translation: X:22.43, Y:2.14, Z:-0.17 [[ 9.85570857e-01 -1.68529914e-01 1.57401946e-02 2.24348272e+01] [ 1.68527400e-01 9.85695835e-01 1.49558001e-03 2.13604133e+00] [-1.57670942e-02 1.17865399e-03 9.99874997e-01 -1.66217541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391417999995 meters 0.059985874345222165 Centerline is valid? [True, True] Translation: X:22.50, Y:2.14, Z:-0.17 [[ 9.86036807e-01 -1.65813766e-01 1.54016513e-02 2.24956480e+01] [ 1.65811032e-01 9.86156459e-01 1.46319825e-03 2.13956272e+00] [-1.54310563e-02 1.11099636e-03 9.99880317e-01 -1.70290610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391417999997 meters 0.058124224701840456 Centerline is valid? [True, True] Translation: X:22.55, Y:2.16, Z:-0.17 [[ 9.86624695e-01 -1.62237771e-01 1.58308968e-02 2.25545598e+01] [ 1.62234426e-01 9.86751098e-01 1.50388247e-03 2.15773588e+00] [-1.58651413e-02 1.08454887e-03 9.99873553e-01 -1.72382999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391417999996 meters 0.056524372344552036 Centerline is valid? [True, True] Translation: X:22.61, Y:2.17, Z:-0.17 [[ 9.87184600e-01 -1.58755414e-01 1.62260449e-02 2.26146817e+01] [ 1.58751433e-01 9.87317379e-01 1.54129906e-03 2.17077873e+00] [-1.62649457e-02 1.05436119e-03 9.99867161e-01 -1.74899511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters 0.057340611583908754 Centerline is valid? [True, True] Translation: X:22.68, Y:2.17, Z:-0.18 [[ 9.87512056e-01 -1.56740677e-01 1.58839111e-02 2.26750666e+01] [ 1.56736604e-01 9.87639287e-01 1.50870729e-03 2.17039905e+00] [-1.59240504e-02 9.99723641e-04 9.99872704e-01 -1.76370793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391417999997 meters 0.05674829950492755 Centerline is valid? [True, True] Translation: X:22.73, Y:2.18, Z:-0.18 [[ 9.87964438e-01 -1.53973196e-01 1.47825736e-02 2.27346323e+01] [ 1.53969360e-01 9.88074625e-01 1.40407618e-03 2.18041576e+00] [-1.48224760e-02 8.88886062e-04 9.99889746e-01 -1.81206811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391417999996 meters 0.05644062868401772 Centerline is valid? [True, True] Translation: X:22.80, Y:2.19, Z:-0.18 [[ 9.88075794e-01 -1.53277012e-01 1.45733595e-02 2.27960793e+01] [ 1.53273212e-01 9.88182881e-01 1.38399601e-03 2.18797816e+00] [-1.46132791e-02 8.66212661e-04 9.99892845e-01 -1.83212173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters 0.055875526720597445 Centerline is valid? [True, True] Translation: X:22.86, Y:2.20, Z:-0.19 [[ 9.88320804e-01 -1.51596919e-01 1.55036234e-02 2.28563361e+01] [ 1.51592416e-01 9.88441992e-01 1.47208686e-03 2.20138046e+00] [-1.55475963e-02 8.95337659e-04 9.99878728e-01 -1.85453278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391417999997 meters 0.06184015930717626 Centerline is valid? [True, True] Translation: X:22.92, Y:2.18, Z:-0.18 [[ 9.88799155e-01 -1.48717870e-01 1.26184822e-02 2.29182092e+01] [ 1.48714654e-01 9.88879425e-01 1.19809085e-03 2.18447569e+00] [-1.26563349e-02 6.91881987e-04 9.99919666e-01 -1.84920206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391417999996 meters 0.058465365185383845 Centerline is valid? [True, True] Translation: X:22.98, Y:2.20, Z:-0.19 [[ 9.88812533e-01 -1.48633228e-01 1.25673496e-02 2.29800830e+01] [ 1.48630041e-01 9.88892152e-01 1.19243651e-03 2.20354742e+00] [-1.26049891e-02 6.88789528e-04 9.99920317e-01 -1.88169341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391417999998 meters 0.05993109840927122 Centerline is valid? [True, True] Translation: X:23.04, Y:2.21, Z:-0.19 [[ 9.89119372e-01 -1.46604422e-01 1.22479548e-02 2.30398037e+01] [ 1.46601248e-01 9.89194988e-01 1.16144221e-03 2.20648624e+00] [-1.22858881e-02 6.46760461e-04 9.99924316e-01 -1.88555575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391417999997 meters 0.05841455560446426 Centerline is valid? [True, True] Translation: X:23.10, Y:2.22, Z:-0.19 [[ 9.89611977e-01 -1.43234306e-01 1.23316111e-02 2.30996308e+01] [ 1.43230827e-01 9.89688619e-01 1.16940010e-03 2.21705939e+00] [-1.23719533e-02 6.09014498e-04 9.99923279e-01 -1.89549234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391417999995 meters 0.055515188420395344 Centerline is valid? [True, True] Translation: X:23.16, Y:2.24, Z:-0.19 [[ 9.89954584e-01 -1.40738845e-01 1.35092571e-02 2.31583411e+01] [ 1.40734439e-01 9.90046553e-01 1.28097028e-03 2.23803458e+00] [-1.35550757e-02 6.33115316e-04 9.99907925e-01 -1.90817852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391417999998 meters 0.057904376443111936 Centerline is valid? [True, True] Translation: X:23.22, Y:2.24, Z:-0.19 [[ 9.90808079e-01 -1.34810078e-01 1.12068642e-02 2.32184566e+01] [ 1.34806669e-01 9.90871350e-01 1.06257165e-03 2.23785642e+00] [-1.12478060e-02 4.57955449e-04 9.99936637e-01 -1.89350030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391417999996 meters 0.05995071895604509 Centerline is valid? [True, True] Translation: X:23.28, Y:2.24, Z:-0.19 [[ 9.91480434e-01 -1.29936597e-01 9.11205011e-03 2.32787722e+01] [ 1.29934137e-01 9.91522251e-01 8.63923270e-04 2.24316965e+00] [-9.14705568e-03 3.27403348e-04 9.99958111e-01 -1.92342937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391417999995 meters 0.05689124367976472 Centerline is valid? [True, True] Translation: X:23.34, Y:2.26, Z:-0.19 [[ 9.92127334e-01 -1.24726535e-01 1.12536925e-02 2.33379159e+01] [ 1.24722449e-01 9.92191097e-01 1.06684829e-03 2.26494605e+00] [-1.12988778e-02 3.45138746e-04 9.99936106e-01 -1.91647614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391417999997 meters 0.056891843943095585 Centerline is valid? [True, True] Translation: X:23.40, Y:2.28, Z:-0.19 [[ 9.92664038e-01 -1.20483470e-01 1.00915957e-02 2.33974059e+01] [ 1.20479967e-01 9.92715298e-01 9.56593781e-04 2.27629636e+00] [-1.01333351e-02 2.66258864e-04 9.99948621e-01 -1.91412013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391417999996 meters 0.056648749441739164 Centerline is valid? [True, True] Translation: X:23.46, Y:2.29, Z:-0.19 [[ 9.93105718e-01 -1.16843438e-01 9.41511141e-03 2.34571926e+01] [ 1.16840226e-01 9.93150324e-01 8.92422348e-04 2.28715009e+00] [-9.45489464e-03 2.13794005e-04 9.99955279e-01 -1.92600729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters 0.05493725690236613 Centerline is valid? [True, True] Translation: X:23.52, Y:2.30, Z:-0.19 [[ 9.93259493e-01 -1.15429683e-01 1.05625620e-02 2.35182376e+01] [ 1.15425565e-01 9.93315628e-01 1.00063036e-03 2.30342897e+00] [-1.06074604e-02 2.25304094e-04 9.99943714e-01 -1.93123025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391417999997 meters 0.05595863752158773 Centerline is valid? [True, True] Translation: X:23.58, Y:2.31, Z:-0.19 [[ 9.93304910e-01 -1.14865937e-01 1.22952248e-02 2.35803527e+01] [ 1.14860327e-01 9.93380970e-01 1.16379110e-03 2.30997490e+00] [-1.23475223e-02 2.56234129e-04 9.99923734e-01 -1.91608407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391417999996 meters 0.054028087567478254 Centerline is valid? [True, True] Translation: X:23.64, Y:2.32, Z:-0.19 [[ 9.93294004e-01 -1.14966630e-01 1.22350045e-02 2.36427928e+01] [ 1.14961095e-01 9.93369321e-01 1.15707857e-03 2.32264096e+00] [-1.22869035e-02 2.57230313e-04 9.99924480e-01 -1.93303012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391417999998 meters 0.05519159297851065 Centerline is valid? [True, True] Translation: X:23.70, Y:2.33, Z:-0.19 [[ 9.92846652e-01 -1.18891695e-01 1.09677289e-02 2.37028277e+01] [ 1.18887495e-01 9.92907191e-01 1.03651621e-03 2.32858456e+00] [-1.10131700e-02 2.74824162e-04 9.99939315e-01 -1.93299710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391417999997 meters 0.05415736677690203 Centerline is valid? [True, True] Translation: X:23.76, Y:2.34, Z:-0.20 [[ 9.92420120e-01 -1.22463568e-01 1.02460027e-02 2.37636171e+01] [ 1.22460094e-01 9.92472966e-01 9.68200697e-04 2.33822937e+00] [-1.02874500e-02 2.93864601e-04 9.99947040e-01 -1.95413189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391417999995 meters 0.05655358602532098 Centerline is valid? [True, True] Translation: X:23.82, Y:2.34, Z:-0.20 [[ 9.92033953e-01 -1.25630065e-01 9.25867104e-03 2.38238313e+01] [ 1.25627367e-01 9.92077114e-01 8.74796812e-04 2.33982546e+00] [-9.29521642e-03 2.95314322e-04 9.99956755e-01 -1.95301292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391417999998 meters 0.05540747748168754 Centerline is valid? [True, True] Translation: X:23.88, Y:2.36, Z:-0.20 [[ 9.91946981e-01 -1.26429005e-01 7.54275063e-03 2.38849392e+01] [ 1.26427239e-01 9.91975628e-01 7.12467982e-04 2.35697982e+00] [-7.57230141e-03 2.46878670e-04 9.99971299e-01 -1.97235902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391417999996 meters 0.05496723735415748 Centerline is valid? [True, True] Translation: X:23.95, Y:2.36, Z:-0.20 [[ 9.91974229e-01 -1.26241155e-01 7.09224037e-03 2.39469451e+01] [ 1.26239593e-01 9.91999555e-01 6.69184161e-04 2.36448371e+00] [-7.11997788e-03 2.31508098e-04 9.99974626e-01 -1.98362242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391417999995 meters 0.05753084475100897 Centerline is valid? [True, True] Translation: X:24.01, Y:2.37, Z:-0.20 [[ 9.91995125e-01 -1.26057451e-01 7.42901151e-03 2.40098800e+01] [ 1.26055739e-01 9.92022913e-01 7.00073094e-04 2.36582264e+00] [-7.45799907e-03 2.42000438e-04 9.99972159e-01 -1.97912257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391417999997 meters 0.0559538265165989 Centerline is valid? [True, True] Translation: X:24.07, Y:2.38, Z:-0.20 [[ 9.92519017e-01 -1.21904680e-01 6.72674513e-03 2.40695230e+01] [ 1.21903185e-01 9.92541794e-01 6.33250000e-04 2.37794015e+00] [-6.75377182e-03 1.91498991e-04 9.99977175e-01 -1.97869960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391417999996 meters 0.05465640267093414 Centerline is valid? [True, True] Translation: X:24.13, Y:2.39, Z:-0.20 [[ 9.92626543e-01 -1.20955334e-01 7.89647088e-03 2.41312786e+01] [ 1.20953245e-01 9.92657927e-01 7.43227371e-04 2.39039704e+00] [-7.92839172e-03 2.17356565e-04 9.99968546e-01 -1.97917083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391417999995 meters 0.054534247367418395 Centerline is valid? [True, True] Translation: X:24.19, Y:2.40, Z:-0.20 [[ 9.92804898e-01 -1.19445440e-01 8.43929396e-03 2.41932078e+01] [ 1.19443006e-01 9.92840742e-01 7.93634317e-04 2.39775251e+00] [-8.47367087e-03 2.20090603e-04 9.99964074e-01 -1.98889628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391417999997 meters 0.054793189076369236 Centerline is valid? [True, True] Translation: X:24.25, Y:2.40, Z:-0.20 [[ 9.92638604e-01 -1.20885129e-01 7.44225234e-03 2.42547985e+01] [ 1.20883282e-01 9.92666481e-01 6.99169914e-04 2.40034543e+00] [-7.47219369e-03 2.05620840e-04 9.99972062e-01 -2.00822582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391417999996 meters 0.05515298772423785 Centerline is valid? [True, True] Translation: X:24.32, Y:2.40, Z:-0.20 [[ 9.92505617e-01 -1.22064313e-01 5.73625673e-03 2.43160599e+01] [ 1.22063237e-01 9.92522179e-01 5.38471757e-04 2.40298875e+00] [-5.75909021e-03 1.65749823e-04 9.99983403e-01 -2.02414844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters 0.05505055080522155 Centerline is valid? [True, True] Translation: X:24.38, Y:2.41, Z:-0.21 [[ 9.92176676e-01 -1.24818767e-01 2.39163488e-03 2.43769810e+01] [ 1.24818589e-01 9.92179555e-01 2.24315272e-04 2.40581021e+00] [-2.40092999e-03 7.59601103e-05 9.99997115e-01 -2.05269554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391417999997 meters 0.055730220296977176 Centerline is valid? [True, True] Translation: X:24.44, Y:2.40, Z:-0.20 [[ 9.91813050e-01 -1.27611501e-01 4.70951578e-03 2.44381211e+01] [ 1.27610841e-01 9.91824217e-01 4.41559077e-04 2.40208685e+00] [-4.72735982e-03 1.63041217e-04 9.99988813e-01 -2.03955871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391417999996 meters 0.05356588781177985 Centerline is valid? [True, True] Translation: X:24.50, Y:2.42, Z:-0.20 [[ 9.91865739e-01 -1.27083732e-01 7.21669275e-03 2.44997549e+01] [ 1.27082170e-01 9.91891962e-01 6.76437669e-04 2.41571939e+00] [-7.24414375e-03 2.46177629e-04 9.99973731e-01 -2.01234235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391417999998 meters 0.05309841873517952 Centerline is valid? [True, True] Translation: X:24.56, Y:2.43, Z:-0.20 [[ 9.91990919e-01 -1.25943028e-01 9.61094700e-03 2.45613451e+01] [ 1.25940209e-01 9.92037425e-01 9.00359922e-04 2.42537082e+00] [-9.64781317e-03 3.17255807e-04 9.99953408e-01 -1.98473072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391417999997 meters 0.052915773578456046 Centerline is valid? [True, True] Translation: X:24.62, Y:2.42, Z:-0.20 [[ 9.91212999e-01 -1.31926072e-01 9.60738342e-03 2.46228303e+01] [ 1.31923538e-01 9.91259487e-01 8.99778351e-04 2.42245895e+00] [-9.64211419e-03 3.75568018e-04 9.99953443e-01 -2.01547775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391417999995 meters 0.054380319371721435 Centerline is valid? [True, True] Translation: X:24.68, Y:2.42, Z:-0.20 [[ 9.90478413e-01 -1.37470627e-01 7.37161417e-03 2.46838416e+01] [ 1.37469289e-01 9.90505789e-01 6.90348561e-04 2.41557110e+00] [-7.39652916e-03 3.29595212e-04 9.99972591e-01 -2.03495378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391417999998 meters 0.05416332558313248 Centerline is valid? [True, True] Translation: X:24.74, Y:2.42, Z:-0.20 [[ 9.89541774e-01 -1.44127682e-01 5.85567656e-03 2.47447141e+01] [ 1.44126954e-01 9.89559054e-01 5.48313942e-04 2.41930981e+00] [-5.87356497e-03 3.01381276e-04 9.99982705e-01 -2.04246092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391417999996 meters 0.05361595957659594 Centerline is valid? [True, True] Translation: X:24.81, Y:2.42, Z:-0.20 [[ 9.89074679e-01 -1.47309582e-01 5.58268699e-03 2.48058400e+01] [ 1.47308971e-01 9.89090387e-01 5.22736974e-04 2.42497791e+00] [-5.59878620e-03 3.05353972e-04 9.99984280e-01 -2.04750192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391417999995 meters 0.056013476133064385 Centerline is valid? [True, True] Translation: X:24.87, Y:2.41, Z:-0.21 [[ 9.88361170e-01 -1.52046093e-01 4.91764683e-03 2.48667580e+01] [ 1.52045677e-01 9.88373361e-01 4.60430824e-04 2.41338431e+00] [-4.93047783e-03 2.92634994e-04 9.99987802e-01 -2.05231725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391417999997 meters 0.05509131083645259 Centerline is valid? [True, True] Translation: X:24.93, Y:2.42, Z:-0.21 [[ 9.87964445e-01 -1.54610284e-01 4.68134674e-03 2.49273727e+01] [ 1.54609936e-01 9.87975493e-01 4.38153759e-04 2.42071725e+00] [-4.69279893e-03 2.90902387e-04 9.99988946e-01 -2.05018996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391417999996 meters 0.055628296332125175 Centerline is valid? [True, True] Translation: X:24.99, Y:2.42, Z:-0.21 [[ 9.88199131e-01 -1.53073802e-01 5.55771886e-03 2.49873789e+01] [ 1.53073289e-01 9.88214702e-01 5.20094364e-04 2.41924133e+00] [-5.57183231e-03 3.36781508e-04 9.99984421e-01 -2.05625060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391417999995 meters 0.05478282492714799 Centerline is valid? [True, True] Translation: X:25.05, Y:2.43, Z:-0.21 [[ 9.88390851e-01 -1.51809229e-01 6.12240921e-03 2.50477053e+01] [ 1.51808582e-01 9.88409746e-01 5.72936367e-04 2.42734236e+00] [-6.13842597e-03 3.63149200e-04 9.99981094e-01 -2.05794693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391417999997 meters 0.053144953658195215 Centerline is valid? [True, True] Translation: X:25.11, Y:2.44, Z:-0.20 [[ 9.88482975e-01 -1.51186037e-01 6.64753472e-03 2.51095820e+01] [ 1.51185261e-01 9.88505250e-01 6.21938417e-04 2.43826186e+00] [-6.66515138e-03 3.90233738e-04 9.99977711e-01 -2.03548576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391417999996 meters 0.05429939156617681 Centerline is valid? [True, True] Translation: X:25.17, Y:2.43, Z:-0.20 [[ 9.88713118e-01 -1.49654560e-01 7.06277305e-03 2.51696960e+01] [ 1.49653648e-01 9.88738261e-01 6.60371598e-04 2.43493866e+00] [-7.08206157e-03 4.04051692e-04 9.99974840e-01 -2.04605566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters 0.055263169058771267 Centerline is valid? [True, True] Translation: X:25.23, Y:2.43, Z:-0.21 [[ 9.88815619e-01 -1.49051087e-01 5.23886332e-03 2.52320456e+01] [ 1.49050577e-01 9.88829452e-01 4.89776625e-04 2.43121639e+00] [-5.25334408e-03 2.96556825e-04 9.99986157e-01 -2.07155360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391417999997 meters 0.05696485290579599 Centerline is valid? [True, True] Translation: X:25.29, Y:2.43, Z:-0.21 [[ 9.88484493e-01 -1.51286261e-01 3.29749460e-03 2.52924376e+01] [ 1.51286073e-01 9.88489974e-01 3.07871824e-04 2.42761453e+00] [-3.30611713e-03 1.94538485e-04 9.99994516e-01 -2.08241830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391417999995 meters 0.05648397576229676 Centerline is valid? [True, True] Translation: X:25.35, Y:2.43, Z:-0.21 [[ 9.88212704e-01 -1.53070660e-01 2.24145034e-03 2.53533967e+01] [ 1.53070577e-01 9.88215237e-01 2.09317096e-04 2.42918628e+00] [-2.24707569e-03 1.36250284e-04 9.99997466e-01 -2.10089852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391417999998 meters 0.054911535610701806 Centerline is valid? [True, True] Translation: X:25.42, Y:2.44, Z:-0.21 [[ 9.88247892e-01 -1.52822962e-01 3.35340616e-03 2.54153414e+01] [ 1.52822776e-01 9.88253561e-01 3.13341745e-04 2.43707396e+00] [-3.36190139e-03 2.02817517e-04 9.99994328e-01 -2.09040788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391417999996 meters 0.05940658678355919 Centerline is valid? [True, True] Translation: X:25.48, Y:2.43, Z:-0.21 [[ 9.88350738e-01 -1.52152211e-01 3.53884617e-03 2.54769435e+01] [ 1.52152001e-01 9.88357051e-01 3.30013916e-04 2.42695154e+00] [-3.54785591e-03 2.12273029e-04 9.99993684e-01 -2.09571420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391417999995 meters 0.05699244676319458 Centerline is valid? [True, True] Translation: X:25.54, Y:2.44, Z:-0.21 [[ 9.88270866e-01 -1.52686425e-01 2.74779932e-03 2.55383537e+01] [ 1.52686301e-01 9.88274672e-01 2.56377286e-04 2.43511035e+00] [-2.75472580e-03 1.66181111e-04 9.99996192e-01 -2.09657988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391417999997 meters 0.05560898867468864 Centerline is valid? [True, True] Translation: X:25.60, Y:2.44, Z:-0.21 [[ 9.87978870e-01 -1.54558916e-01 3.04875248e-03 2.55984456e+01] [ 1.54558772e-01 9.87983555e-01 2.84123508e-04 2.44002943e+00] [-3.05603113e-03 1.90503417e-04 9.99995312e-01 -2.09377944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391417999996 meters 0.06197781948590735 Centerline is valid? [True, True] Translation: X:25.66, Y:2.42, Z:-0.21 [[ 9.87655607e-01 -1.56565348e-01 4.86757731e-03 2.56601259e+01] [ 1.56565006e-01 9.87667552e-01 4.53589561e-04 2.42425331e+00] [-4.87856457e-03 3.14102000e-04 9.99988050e-01 -2.09463349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391417999995 meters 0.05736880844967932 Centerline is valid? [True, True] Translation: X:25.72, Y:2.44, Z:-0.21 [[ 9.87588379e-01 -1.57049002e-01 2.19177889e-03 2.57208883e+01] [ 1.57048933e-01 9.87590801e-01 2.04364028e-04 2.43927338e+00] [-2.19667584e-03 1.42388998e-04 9.99997577e-01 -2.10084358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391417999997 meters 0.0632871056069201 Centerline is valid? [True, True] Translation: X:25.78, Y:2.43, Z:-0.21 [[ 9.87650183e-01 -1.56668545e-01 1.44331320e-03 2.57839182e+01] [ 1.56668514e-01 9.87651233e-01 1.34925778e-04 2.42539345e+00] [-1.44662869e-03 9.28622664e-05 9.99998949e-01 -2.12118407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391417999996 meters 0.055081425962066805 Centerline is valid? [True, True] Translation: X:25.84, Y:2.45, Z:-0.21 [[ 9.87787895e-01 -1.55764454e-01 3.53683480e-03 2.58437746e+01] [ 1.55764269e-01 9.87794201e-01 3.29190613e-04 2.44899516e+00] [-3.54494110e-03 2.25741987e-04 9.99993691e-01 -2.10992493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999995 meters 0.0588928610340071 Centerline is valid? [True, True] Translation: X:25.90, Y:2.44, Z:-0.21 [[ 9.88059725e-01 -1.53983200e-01 5.21099340e-03 2.59043682e+01] [ 1.53982777e-01 9.88073413e-01 4.84801494e-04 2.44308619e+00] [-5.22349532e-03 3.23390402e-04 9.99986305e-01 -2.09878898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391417999997 meters 0.05873523040495485 Centerline is valid? [True, True] Translation: X:25.96, Y:2.45, Z:-0.21 [[ 9.88249716e-01 -1.52826191e-01 2.57952393e-03 2.59649551e+01] [ 1.52826084e-01 9.88253070e-01 2.39996781e-04 2.44561607e+00] [-2.58590023e-03 1.57041788e-04 9.99996644e-01 -2.13007830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391417999996 meters 0.05742084755259961 Centerline is valid? [True, True] Translation: X:26.03, Y:2.46, Z:-0.21 [[ 9.88297025e-01 -1.52526499e-01 2.15814807e-03 2.60263888e+01] [ 1.52526423e-01 9.88299373e-01 2.00937468e-04 2.45542624e+00] [-2.16354467e-03 1.30588702e-04 9.99997651e-01 -2.12919570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391417999998 meters 0.05819156424915528 Centerline is valid? [True, True] Translation: X:26.09, Y:2.46, Z:-0.21 [[ 9.88348591e-01 -1.52155012e-01 3.98939796e-03 2.60876850e+01] [ 1.52154749e-01 9.88356613e-01 3.71216171e-04 2.45613799e+00] [-3.99943026e-03 2.40114865e-04 9.99991973e-01 -2.11549155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391417999997 meters 0.06318760463775085 Centerline is valid? [True, True] Translation: X:26.15, Y:2.45, Z:-0.21 [[ 9.88184543e-01 -1.53224074e-01 3.70037805e-03 2.61493748e+01] [ 1.53223857e-01 9.88191445e-01 3.43792693e-04 2.44549425e+00] [-3.70935925e-03 2.27255571e-04 9.99993094e-01 -2.13216002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391417999995 meters 0.05731883522680696 Centerline is valid? [True, True] Translation: X:26.21, Y:2.47, Z:-0.21 [[ 9.87982847e-01 -1.54532040e-01 3.12146622e-03 2.62089544e+01] [ 1.54531892e-01 9.87987758e-01 2.90013867e-04 2.46764304e+00] [-3.12878685e-03 1.95837355e-04 9.99995086e-01 -2.13740352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391417999998 meters 0.06438933826006302 Centerline is valid? [True, True] Translation: X:26.27, Y:2.45, Z:-0.22 [[ 9.87363385e-01 -1.58471929e-01 4.40570605e-04 2.62709731e+01] [ 1.58471926e-01 9.87363483e-01 4.09672507e-05 2.44820814e+00] [-4.41495486e-04 2.93685089e-05 9.99999902e-01 -2.17472816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391417999996 meters 0.06705129719719112 Centerline is valid? [True, True] Translation: X:26.33, Y:2.45, Z:-0.22 [[ 9.86895474e-01 -1.61360643e-01 -2.57932398e-04 2.63318039e+01] [ 1.61360642e-01 9.86895507e-01 -2.38936792e-05 2.44824021e+00] [ 2.58407825e-04 -1.80395735e-05 9.99999966e-01 -2.17953731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391417999995 meters 0.0651555045451424 Centerline is valid? [True, True] Translation: X:26.39, Y:2.45, Z:-0.22 [[ 9.86318286e-01 -1.64849494e-01 9.39443705e-04 2.63919226e+01] [ 1.64849485e-01 9.86318731e-01 8.72530596e-05 2.45467098e+00] [-9.40974546e-04 6.88075227e-05 9.99999555e-01 -2.16744322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391417999997 meters 0.06610105871572847 Centerline is valid? [True, True] Translation: X:26.45, Y:2.46, Z:-0.22 [[ 9.86250870e-01 -1.65254936e-01 -1.68506075e-04 2.64536692e+01] [ 1.65254936e-01 9.86250884e-01 -1.53464022e-05 2.45881253e+00] [ 1.68725334e-04 -1.27110581e-05 9.99999986e-01 -2.16772044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391417999996 meters 0.06468346228888933 Centerline is valid? [True, True] Translation: X:26.51, Y:2.47, Z:-0.22 [[ 9.86592966e-01 -1.63200021e-01 -2.70070397e-04 2.65139900e+01] [ 1.63200020e-01 9.86593003e-01 -2.50228966e-05 2.46962982e+00] [ 2.70533301e-04 -1.93880803e-05 9.99999963e-01 -2.16121214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391417999995 meters 0.06069841236824599 Centerline is valid? [True, True] Translation: X:26.57, Y:2.49, Z:-0.22 [[ 9.87559714e-01 -1.57240260e-01 1.14511482e-03 2.65730407e+01] [ 1.57240242e-01 9.87560375e-01 1.06291189e-04 2.48671326e+00] [-1.14758327e-03 7.50892349e-05 9.99999339e-01 -2.15396919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391417999997 meters 0.06012292242939387 Centerline is valid? [True, True] Translation: X:26.63, Y:2.50, Z:-0.21 [[ 9.88454478e-01 -1.51513921e-01 1.12972796e-03 2.66316757e+01] [ 1.51513900e-01 9.88455121e-01 1.04803552e-04 2.49530849e+00] [-1.13256458e-03 6.75759486e-05 9.99999356e-01 -2.14695958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391417999996 meters 0.06602560134091386 Centerline is valid? [True, True] Translation: X:26.69, Y:2.49, Z:-0.22 [[ 9.89048397e-01 -1.47581938e-01 1.68538097e-03 2.66926130e+01] [ 1.47581885e-01 9.89049828e-01 1.56420473e-04 2.49145189e+00] [-1.69001060e-03 9.40242825e-05 9.99998568e-01 -2.15459450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999994 meters 0.057680019210116375 Centerline is valid? [True, True] Translation: X:26.75, Y:2.52, Z:-0.21 [[ 9.89601278e-01 -1.43814906e-01 2.56576875e-03 2.67504911e+01] [ 1.43814771e-01 9.89604595e-01 2.38137320e-04 2.52054149e+00] [-2.57334424e-03 1.33334449e-04 9.99996680e-01 -2.14559854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391417999997 meters 0.058562841594038496 Centerline is valid? [True, True] Translation: X:26.81, Y:2.53, Z:-0.21 [[ 9.89903292e-01 -1.41712267e-01 3.01764360e-03 2.68095697e+01] [ 1.41712070e-01 9.89907880e-01 2.80020814e-04 2.52745012e+00] [-3.02687157e-03 1.50442996e-04 9.99995408e-01 -2.14763132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391417999995 meters 0.05778883670827204 Centerline is valid? [True, True] Translation: X:26.87, Y:2.54, Z:-0.21 [[ 9.89866173e-01 -1.41979616e-01 2.59771318e-03 2.68704515e+01] [ 1.41979470e-01 9.89869573e-01 2.41427762e-04 2.54185204e+00] [-2.60567506e-03 1.29840767e-04 9.99996597e-01 -2.14931696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391417999998 meters 0.057371902597075634 Centerline is valid? [True, True] Translation: X:26.93, Y:2.55, Z:-0.22 [[ 9.89472955e-01 -1.44706919e-01 1.78293611e-03 2.69311068e+01] [ 1.44706855e-01 9.89474557e-01 1.65353173e-04 2.55087718e+00] [-1.78809767e-03 9.43905852e-05 9.99998397e-01 -2.16216273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391417999996 meters 0.05492961527389009 Centerline is valid? [True, True] Translation: X:26.99, Y:2.57, Z:-0.22 [[ 9.88343771e-01 -1.52237085e-01 6.78830850e-04 2.69907010e+01] [ 1.52237077e-01 9.88344003e-01 6.30072266e-05 2.56703449e+00] [-6.80510436e-04 4.10704245e-05 9.99999768e-01 -2.17002379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391417999995 meters 0.05699114862194064 Centerline is valid? [True, True] Translation: X:27.05, Y:2.57, Z:-0.22 [[ 9.87168896e-01 -1.59679327e-01 2.88316347e-04 2.70507233e+01] [ 1.59679326e-01 9.87168938e-01 2.67930079e-05 2.56676149e+00] [-2.88895232e-04 1.95889360e-05 9.99999958e-01 -2.16237237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391417999997 meters 0.05341856484950258 Centerline is valid? [True, True] Translation: X:27.11, Y:2.60, Z:-0.21 [[ 9.86235255e-01 -1.65346609e-01 7.21226787e-04 2.71088818e+01] [ 1.65346604e-01 9.86235517e-01 6.68671387e-05 2.60247991e+00] [-7.22355729e-04 5.33056707e-05 9.99999738e-01 -2.14609806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391417999996 meters 0.057523936249547526 Centerline is valid? [True, True] Translation: X:27.17, Y:2.58, Z:-0.22 [[ 9.85777825e-01 -1.68053603e-01 -2.57365617e-04 2.71719106e+01] [ 1.68053603e-01 9.85777858e-01 -2.37591676e-05 2.57604451e+00] [ 2.57698140e-04 -1.98299587e-05 9.99999967e-01 -2.17779614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391417999995 meters 0.05932448992376848 Centerline is valid? [True, True] Translation: X:27.23, Y:2.58, Z:-0.22 [[ 9.85152932e-01 -1.71672038e-01 -1.55293432e-03 2.72327977e+01] [ 1.71672024e-01 9.85154148e-01 -1.43785368e-04 2.58088019e+00] [ 1.55456362e-03 -1.24944801e-04 9.99998784e-01 -2.18051902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391417999997 meters 0.05853666513419313 Centerline is valid? [True, True] Translation: X:27.29, Y:2.59, Z:-0.22 [[ 9.85033877e-01 -1.72355914e-01 -1.30398294e-03 2.72929162e+01] [ 1.72355904e-01 9.85034734e-01 -1.20720833e-04 2.58837494e+00] [ 1.30527544e-03 -1.05835049e-04 9.99999143e-01 -2.18995774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391417999996 meters 0.06035452218865198 Centerline is valid? [True, True] Translation: X:27.35, Y:2.59, Z:-0.22 [[ 9.85178242e-01 -1.71532048e-01 7.66929261e-04 2.73532856e+01] [ 1.71532045e-01 9.85178538e-01 7.10268990e-05 2.59158467e+00] [-7.67745638e-04 6.15787888e-05 9.99999703e-01 -2.16827549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999995 meters 0.052743798204548414 Centerline is valid? [True, True] Translation: X:27.41, Y:2.62, Z:-0.21 [[ 9.85475767e-01 -1.69798236e-01 2.46397097e-03 2.74113079e+01] [ 1.69798193e-01 9.85478829e-01 2.28233224e-04 2.62258802e+00] [-2.46694483e-03 1.93459507e-04 9.99996938e-01 -2.14696005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391417999997 meters 0.060870881753658734 Centerline is valid? [True, True] Translation: X:27.47, Y:2.61, Z:-0.22 [[ 9.86013176e-01 -1.66631546e-01 3.45597396e-03 2.74729195e+01] [ 1.66631442e-01 9.86019199e-01 3.20017053e-04 2.60776797e+00] [-3.46098161e-03 2.60332895e-04 9.99993977e-01 -2.15594007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391417999996 meters 0.06161047082813491 Centerline is valid? [True, True] Translation: X:27.53, Y:2.61, Z:-0.22 [[ 9.86135939e-01 -1.65922565e-01 2.36888998e-03 2.75340224e+01] [ 1.65922514e-01 9.86138769e-01 2.19422148e-04 2.61259913e+00] [-2.37246134e-03 1.76672114e-04 9.99997170e-01 -2.17324765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391417999998 meters 0.060356093505057974 Centerline is valid? [True, True] Translation: X:27.59, Y:2.62, Z:-0.22 [[ 9.86007337e-01 -1.66701105e-01 5.21657928e-04 2.75947736e+01] [ 1.66701103e-01 9.86007475e-01 4.83797589e-05 2.62113445e+00] [-5.22423576e-04 3.92581546e-05 9.99999863e-01 -2.18330164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391417999997 meters 0.05318317772918212 Centerline is valid? [True, True] Translation: X:27.65, Y:2.65, Z:-0.22 [[ 9.85538361e-01 -1.69451582e-01 5.47547044e-04 2.76526481e+01] [ 1.69451580e-01 9.85538512e-01 5.07598469e-05 2.65096662e+00] [-5.48230036e-04 4.27569353e-05 9.99999849e-01 -2.17837807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391417999995 meters 0.06198353579626404 Centerline is valid? [True, True] Translation: X:27.72, Y:2.63, Z:-0.22 [[ 9.85590435e-01 -1.69149155e-01 -2.41145074e-04 2.77166816e+01] [ 1.69149155e-01 9.85590464e-01 -2.16509633e-05 2.62716078e+00] [ 2.41332528e-04 -1.94505030e-05 9.99999971e-01 -2.19648345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391417999998 meters 0.051930649108272914 Centerline is valid? [True, True] Translation: X:27.77, Y:2.67, Z:-0.22 [[ 9.85784558e-01 -1.68014277e-01 -9.28813206e-05 2.77731971e+01] [ 1.68014276e-01 9.85784562e-01 -8.52557355e-06 2.67208845e+00] [ 9.29933901e-05 -7.20100913e-06 9.99999996e-01 -2.16340412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391417999996 meters 0.053085662529570206 Centerline is valid? [True, True] Translation: X:27.83, Y:2.67, Z:-0.22 [[ 9.86514441e-01 -1.63673997e-01 -2.84344292e-04 2.78334267e+01] [ 1.63673996e-01 9.86514482e-01 -2.62372724e-05 2.66835813e+00] [ 2.84804121e-04 -2.06563185e-05 9.99999959e-01 -2.18274845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391417999995 meters 0.05280306983575468 Centerline is valid? [True, True] Translation: X:27.89, Y:2.68, Z:-0.22 [[ 9.86924872e-01 -1.61179771e-01 -6.15586342e-04 2.78928207e+01] [ 1.61179767e-01 9.86925063e-01 -5.68580418e-05 2.68305797e+00] [ 6.16701955e-04 -4.31054474e-05 9.99999809e-01 -2.17620243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391417999997 meters 0.052493852581811384 Centerline is valid? [True, True] Translation: X:27.95, Y:2.69, Z:-0.22 [[ 9.87020872e-01 -1.60592026e-01 -1.67982212e-05 2.79539231e+01] [ 1.60592026e-01 9.87020872e-01 -8.18804762e-07 2.69477808e+00] [ 1.67116885e-05 -1.88948298e-06 1.00000000e+00 -2.17024741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391417999996 meters 0.053024518326962894 Centerline is valid? [True, True] Translation: X:28.02, Y:2.69, Z:-0.22 [[ 9.87002124e-01 -1.60704615e-01 9.13618183e-04 2.80154085e+01] [ 1.60704605e-01 9.87002544e-01 8.49073974e-05 2.69256999e+00] [-9.15388482e-04 6.30188677e-05 9.99999579e-01 -2.18154958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391417999995 meters 0.05887028039326985 Centerline is valid? [True, True] Translation: X:28.08, Y:2.68, Z:-0.22 [[ 9.86822031e-01 -1.61806943e-01 8.89689492e-04 2.80773977e+01] [ 1.61806934e-01 9.86822431e-01 8.22116172e-05 2.67612459e+00] [-8.91267957e-04 6.28296938e-05 9.99999601e-01 -2.19772103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391417999997 meters 0.0563116489859355 Centerline is valid? [True, True] Translation: X:28.14, Y:2.69, Z:-0.22 [[ 9.86645909e-01 -1.62877194e-01 9.32685648e-04 2.81372725e+01] [ 1.62877185e-01 9.86646348e-01 8.59923017e-05 2.68770207e+00] [-9.34237073e-04 6.70692599e-05 9.99999561e-01 -2.20190298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391417999996 meters 0.058168872653221224 Centerline is valid? [True, True] Translation: X:28.20, Y:2.69, Z:-0.22 [[ 9.86005306e-01 -1.66713929e-01 4.53713180e-05 2.81975206e+01] [ 1.66713929e-01 9.86005307e-01 4.31354476e-06 2.68505956e+00] [-4.54554883e-05 3.31085267e-06 9.99999999e-01 -2.21829987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999994 meters 0.054056105068355946 Centerline is valid? [True, True] Translation: X:28.26, Y:2.71, Z:-0.22 [[ 9.85762947e-01 -1.68138205e-01 9.78238563e-04 2.82563680e+01] [ 1.68138198e-01 9.85763429e-01 9.01647380e-05 2.70774502e+00] [-9.79471938e-04 7.55982115e-05 9.99999517e-01 -2.20387875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391417999997 meters 0.05388645148633832 Centerline is valid? [True, True] Translation: X:28.32, Y:2.71, Z:-0.22 [[ 9.85617253e-01 -1.68976333e-01 2.37251715e-03 2.83178186e+01] [ 1.68976293e-01 9.85620091e-01 2.18638274e-04 2.70909900e+00] [-2.37534526e-03 1.85405498e-04 9.99997162e-01 -2.20663948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391417999995 meters 0.05397646185285331 Centerline is valid? [True, True] Translation: X:28.38, Y:2.72, Z:-0.22 [[ 9.85539772e-01 -1.69431809e-01 2.05412636e-03 2.83795882e+01] [ 1.69431780e-01 9.85541900e-01 1.89299884e-04 2.71522888e+00] [-2.05650102e-03 1.61471721e-04 9.99997872e-01 -2.20911647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391417999998 meters 0.05819499772807262 Centerline is valid? [True, True] Translation: X:28.44, Y:2.71, Z:-0.22 [[ 9.86042367e-01 -1.66482472e-01 2.00902209e-03 2.84400946e+01] [ 1.66482439e-01 9.86044402e-01 1.84950505e-04 2.70611041e+00] [-2.01177600e-03 1.52097864e-04 9.99997965e-01 -2.23302511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04439141799999 meters 0.05716343359093161 Centerline is valid? [True, True] Translation: X:28.50, Y:2.71, Z:-0.22 [[ 9.86409529e-01 -1.64288522e-01 2.35026650e-03 2.85006205e+01] [ 1.64288470e-01 9.86412313e-01 2.16444743e-04 2.71346072e+00] [-2.35389120e-03 1.72618530e-04 9.99997215e-01 -2.24695058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10439141799999 meters 0.05440865847806044 Centerline is valid? [True, True] Translation: X:28.56, Y:2.73, Z:-0.22 [[ 9.87120418e-01 -1.59971570e-01 1.54207621e-03 2.85603695e+01] [ 1.59971543e-01 9.87121616e-01 1.41988003e-04 2.73027413e+00] [-1.54493080e-03 1.06529052e-04 9.99998801e-01 -2.23591165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters 0.0539004852157823 Centerline is valid? [True, True] Translation: X:28.62, Y:2.74, Z:-0.22 [[ 9.87995513e-01 -1.54476990e-01 1.31392924e-03 2.86201420e+01] [ 1.54476965e-01 9.87996383e-01 1.20974975e-04 2.74348283e+00] [-1.31684518e-03 8.34490680e-05 9.99999129e-01 -2.22697244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22439141799999 meters 0.05297261633187266 Centerline is valid? [True, True] Translation: X:28.68, Y:2.76, Z:-0.22 [[ 9.88309527e-01 -1.52445937e-01 2.12478800e-03 2.86793487e+01] [ 1.52445868e-01 9.88311803e-01 1.95623349e-04 2.76315002e+00] [-2.12977504e-03 1.30578730e-04 9.99997724e-01 -2.23779315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28439141799999 meters 0.05277577030457699 Centerline is valid? [True, True] Translation: X:28.74, Y:2.76, Z:-0.22 [[ 9.88331657e-01 -1.52293215e-01 2.70413674e-03 2.87406963e+01] [ 1.52293101e-01 9.88335343e-01 2.49221862e-04 2.76402782e+00] [-2.71054871e-03 1.65507513e-04 9.99996313e-01 -2.24767844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters 0.055165501977165916 Centerline is valid? [True, True] Translation: X:28.80, Y:2.76, Z:-0.22 [[ 9.88419775e-01 -1.51718075e-01 2.82383962e-03 2.88027671e+01] [ 1.51717950e-01 9.88423794e-01 2.59918267e-04 2.75657542e+00] [-2.83058457e-03 1.71518803e-04 9.99995979e-01 -2.24497519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters 0.05511710642924212 Centerline is valid? [True, True] Translation: X:28.86, Y:2.76, Z:-0.23 [[ 9.88155419e-01 -1.53420212e-01 3.33270052e-03 2.88634836e+01] [ 1.53420049e-01 9.88161017e-01 3.06013069e-04 2.76276689e+00] [-3.34019332e-03 2.08914605e-04 9.99994400e-01 -2.25283389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46439141799999 meters 0.05601422960907111 Centerline is valid? [True, True] Translation: X:28.92, Y:2.76, Z:-0.23 [[ 9.87431617e-01 -1.58011924e-01 3.32180038e-03 2.89241870e+01] [ 1.58011788e-01 9.87437179e-01 3.05007320e-04 2.75811148e+00] [-3.32826399e-03 2.23709746e-04 9.99994436e-01 -2.26249348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters 0.05235912842852293 Centerline is valid? [True, True] Translation: X:28.98, Y:2.80, Z:-0.23 [[ 9.86674234e-01 -1.62650169e-01 4.34488560e-03 2.89813230e+01] [ 1.62649981e-01 9.86683751e-01 3.98887193e-04 2.79877581e+00] [-4.35190709e-03 3.13123847e-04 9.99990481e-01 -2.25434461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters 0.052458821015387784 Centerline is valid? [True, True] Translation: X:29.04, Y:2.80, Z:-0.23 [[ 9.86591940e-01 -1.63152206e-01 4.20742150e-03 2.90431141e+01] [ 1.63152034e-01 9.86600864e-01 3.86391974e-04 2.79577628e+00] [-4.21408639e-03 3.05238167e-04 9.99991074e-01 -2.26682932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64439141799999 meters 0.0519686021041987 Centerline is valid? [True, True] Translation: X:29.11, Y:2.80, Z:-0.23 [[ 9.86500649e-01 -1.63716727e-01 3.64727149e-03 2.91052597e+01] [ 1.63716604e-01 9.86507355e-01 3.34460688e-04 2.79860597e+00] [-3.65281697e-03 2.67173217e-04 9.99993293e-01 -2.27944865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters 0.05647065074590274 Centerline is valid? [True, True] Translation: X:29.17, Y:2.78, Z:-0.23 [[ 9.86602299e-01 -1.63110818e-01 3.28092186e-03 2.91690452e+01] [ 1.63110714e-01 9.86607726e-01 3.01002026e-04 2.77873245e+00] [-3.28607954e-03 2.38184218e-04 9.99994572e-01 -2.28867752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters 0.05202176214064338 Centerline is valid? [True, True] Translation: X:29.23, Y:2.81, Z:-0.23 [[ 9.86730835e-01 -1.62281274e-01 5.20068342e-03 2.92288422e+01] [ 1.62281007e-01 9.86744470e-01 4.76043032e-04 2.80521052e+00] [-5.20899847e-03 3.74245804e-04 9.99986363e-01 -2.28601947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82439141799999 meters 0.051533475111761186 Centerline is valid? [True, True] Translation: X:29.29, Y:2.82, Z:-0.23 [[ 9.86973104e-01 -1.60766148e-01 6.19180426e-03 2.92893066e+01] [ 1.60765742e-01 9.86992429e-01 5.66486296e-04 2.81549622e+00] [-6.20233575e-03 4.36323267e-04 9.99980670e-01 -2.29703792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters 0.052430358178433605 Centerline is valid? [True, True] Translation: X:29.35, Y:2.81, Z:-0.23 [[ 9.87010787e-01 -1.60540698e-01 6.03242602e-03 2.93516340e+01] [ 1.60540309e-01 9.87029131e-01 5.51853882e-04 2.81492332e+00] [-6.04277522e-03 4.23761800e-04 9.99981652e-01 -2.28968707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters 0.0560722390389928 Centerline is valid? [True, True] Translation: X:29.41, Y:2.80, Z:-0.23 [[ 9.87174139e-01 -1.59569100e-01 4.99219482e-03 2.94137171e+01] [ 1.59568822e-01 9.87186701e-01 4.56485455e-04 2.80004114e+00] [-5.00106931e-03 3.45968013e-04 9.99987435e-01 -2.29164020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00439141799999 meters 0.052575269348456403 Centerline is valid? [True, True] Translation: X:29.47, Y:2.82, Z:-0.23 [[ 9.86759873e-01 -1.62114494e-01 4.88309804e-03 2.94734955e+01] [ 1.62114259e-01 9.86771892e-01 4.46482386e-04 2.81731689e+00] [-4.89088516e-03 3.51048917e-04 9.99987978e-01 -2.31213561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06439141799999 meters 0.05496373771758705 Centerline is valid? [True, True] Translation: X:29.53, Y:2.81, Z:-0.23 [[ 9.86146877e-01 -1.65796992e-01 5.06903838e-03 2.95348192e+01] [ 1.65796788e-01 9.86159830e-01 4.63361237e-04 2.80621818e+00] [-5.07570592e-03 3.83488046e-04 9.99987045e-01 -2.30711631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters 0.051827432521026534 Centerline is valid? [True, True] Translation: X:29.59, Y:2.83, Z:-0.23 [[ 9.85710672e-01 -1.68321228e-01 6.51420699e-03 2.95936915e+01] [ 1.68320947e-01 9.85732065e-01 5.95356273e-04 2.83188750e+00] [-6.52147381e-03 5.09628457e-04 9.99978605e-01 -2.31020776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18439141799999 meters 0.06179639605846865 Centerline is valid? [True, True] Translation: X:29.66, Y:2.80, Z:-0.23 [[ 9.85488333e-01 -1.69625854e-01 6.30994557e-03 2.96572416e+01] [ 1.69625617e-01 9.85508406e-01 5.76609129e-04 2.79598760e+00] [-6.31631222e-03 5.02086844e-04 9.99979926e-01 -2.31971379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24439141799999 meters 0.05359694812596097 Centerline is valid? [True, True] Translation: X:29.72, Y:2.82, Z:-0.23 [[ 9.85353982e-01 -1.70422215e-01 5.81370798e-03 2.97158918e+01] [ 1.70422027e-01 9.85371022e-01 5.31265266e-04 2.82231941e+00] [-5.81919877e-03 4.67299555e-04 9.99982959e-01 -2.33890917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters 0.052603178992254813 Centerline is valid? [True, True] Translation: X:29.78, Y:2.84, Z:-0.23 [[ 9.85925881e-01 -1.67121495e-01 4.53458365e-03 2.97756371e+01] [ 1.67121347e-01 9.85936247e-01 4.14352984e-04 2.83970704e+00] [-4.54005768e-03 3.49304396e-04 9.99989633e-01 -2.34146041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36439141799999 meters 0.05175888999868165 Centerline is valid? [True, True] Translation: X:29.84, Y:2.85, Z:-0.24 [[ 9.86593411e-01 -1.63136517e-01 4.46301975e-03 2.98359477e+01] [ 1.63136333e-01 9.86603452e-01 4.07777657e-04 2.84862799e+00] [-4.46975411e-03 3.25769926e-04 9.99989958e-01 -2.35336852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42439141799999 meters 0.058791824811612874 Centerline is valid? [True, True] Translation: X:29.90, Y:2.83, Z:-0.23 [[ 9.87749497e-01 -1.55965986e-01 5.05385175e-03 2.98982419e+01] [ 1.55965656e-01 9.87762371e-01 4.61718791e-04 2.82655458e+00] [-5.06401702e-03 3.32164801e-04 9.99987123e-01 -2.34813819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters 0.055157432861902 Centerline is valid? [True, True] Translation: X:29.96, Y:2.85, Z:-0.23 [[ 9.88966464e-01 -1.47996078e-01 6.51871399e-03 2.99572617e+01] [ 1.47995357e-01 9.88987876e-01 5.95511877e-04 2.85049178e+00] [-6.53506253e-03 3.75798129e-04 9.99978576e-01 -2.33408218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54439141799999 meters 0.058668597762394005 Centerline is valid? [True, True] Translation: X:30.02, Y:2.85, Z:-0.23 [[ 9.89597365e-01 -1.43730288e-01 6.21766673e-03 3.00177075e+01] [ 1.43729548e-01 9.89616842e-01 5.67978119e-04 2.84658982e+00] [-6.23474337e-03 3.31592779e-04 9.99980509e-01 -2.34679777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60439141799999 meters 0.05601323879137786 Centerline is valid? [True, True] Translation: X:30.08, Y:2.86, Z:-0.24 [[ 9.90014509e-01 -1.40858210e-01 5.49882989e-03 3.00768560e+01] [ 1.40857587e-01 9.90029741e-01 5.02297900e-04 2.86027791e+00] [-5.51475792e-03 2.77269701e-04 9.99984755e-01 -2.35592316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters 0.05638437956989813 Centerline is valid? [True, True] Translation: X:30.14, Y:2.87, Z:-0.24 [[ 9.90252103e-01 -1.39168391e-01 5.73859659e-03 3.01361307e+01] [ 1.39167685e-01 9.90268691e-01 5.24195751e-04 2.86607474e+00] [-5.75570401e-03 2.79541258e-04 9.99983397e-01 -2.35790879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72439141799999 meters 0.05445079420323764 Centerline is valid? [True, True] Translation: X:30.20, Y:2.88, Z:-0.24 [[ 9.90156924e-01 -1.39838043e-01 5.88106502e-03 3.01972034e+01] [ 1.39837313e-01 9.90174347e-01 5.37259825e-04 2.88129063e+00] [-5.89840908e-03 2.90420792e-04 9.99982562e-01 -2.36718219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78439141799999 meters 0.052907799944134616 Centerline is valid? [True, True] Translation: X:30.26, Y:2.90, Z:-0.24 [[ 9.89529080e-01 -1.44238342e-01 5.24415908e-03 3.02571900e+01] [ 1.44237824e-01 9.89542935e-01 4.78914168e-04 2.89578723e+00] [-5.25839836e-03 2.82506598e-04 9.99986135e-01 -2.37843845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters 0.05591630375611338 Centerline is valid? [True, True] Translation: X:30.32, Y:2.89, Z:-0.24 [[ 9.89030812e-01 -1.47640020e-01 4.52512833e-03 3.03181900e+01] [ 1.47639669e-01 9.89041130e-01 4.13275972e-04 2.88638541e+00] [-4.53655411e-03 2.59345781e-04 9.99989676e-01 -2.38342365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90439141799999 meters 0.05485063615679364 Centerline is valid? [True, True] Translation: X:30.38, Y:2.89, Z:-0.24 [[ 9.88419171e-01 -1.51679237e-01 4.57737154e-03 3.03780413e+01] [ 1.51678923e-01 9.88429729e-01 4.17853225e-04 2.89400143e+00] [-4.58778977e-03 2.81276645e-04 9.99989436e-01 -2.40007361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96439141799999 meters 0.05364032866099549 Centerline is valid? [True, True] Translation: X:30.44, Y:2.90, Z:-0.24 [[ 9.88159390e-01 -1.53333725e-01 5.45782822e-03 3.04384377e+01] [ 1.53333303e-01 9.88174403e-01 4.98207624e-04 2.90423842e+00] [-5.46967818e-03 3.44558285e-04 9.99984982e-01 -2.39831239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters 0.05367093732957898 Centerline is valid? [True, True] Translation: X:30.50, Y:2.91, Z:-0.24 [[ 9.88473759e-01 -1.51359126e-01 3.16903856e-03 3.04975141e+01] [ 1.51358973e-01 9.88478820e-01 2.89214161e-04 2.91423619e+00] [-3.17630270e-03 1.93781815e-04 9.99994937e-01 -2.40128129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters 0.05559280829945138 Centerline is valid? [True, True] Translation: X:30.56, Y:2.91, Z:-0.24 [[ 9.88976011e-01 -1.48046715e-01 2.93606888e-03 3.05573584e+01] [ 1.48046570e-01 9.88980354e-01 2.67942882e-04 2.91317390e+00] [-2.94338251e-03 1.69685843e-04 9.99995654e-01 -2.41610215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14439141799999 meters 0.054757113672065566 Centerline is valid? [True, True] Translation: X:30.62, Y:2.92, Z:-0.24 [[ 9.89352783e-01 -1.45485619e-01 3.87356087e-03 3.06173506e+01] [ 1.45485346e-01 9.89360343e-01 3.53575528e-04 2.92380048e+00] [-3.88378767e-03 2.13735413e-04 9.99992435e-01 -2.41563784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters 0.05331824358502779 Centerline is valid? [True, True] Translation: X:30.68, Y:2.94, Z:-0.24 [[ 9.89942029e-01 -1.41386334e-01 4.96830393e-03 3.06769737e+01] [ 1.41385834e-01 9.89954464e-01 4.53477462e-04 2.94057058e+00] [-4.98251017e-03 2.53531395e-04 9.99987555e-01 -2.40793438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters 0.052502127454070006 Centerline is valid? [True, True] Translation: X:30.74, Y:2.95, Z:-0.24 [[ 9.91135035e-01 -1.32726686e-01 5.91352609e-03 3.07367596e+01] [ 1.32725824e-01 9.91152644e-01 5.39704559e-04 2.95137678e+00] [-5.93284022e-03 2.49957527e-04 9.99982369e-01 -2.40395473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32439141799999 meters 0.05561617658720489 Centerline is valid? [True, True] Translation: X:30.80, Y:2.95, Z:-0.24 [[ 9.92071560e-01 -1.25481498e-01 6.95796397e-03 3.07970206e+01] [ 1.25480128e-01 9.92095930e-01 6.34947118e-04 2.94933441e+00] [-6.98264186e-03 2.43173229e-04 9.99975591e-01 -2.39278985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters 0.05479452977214162 Centerline is valid? [True, True] Translation: X:30.86, Y:2.96, Z:-0.24 [[ 9.92665024e-01 -1.20728804e-01 6.38007674e-03 3.08570036e+01] [ 1.20727553e-01 9.92685509e-01 5.82204628e-04 2.96121213e+00] [-6.40369859e-03 1.92316884e-04 9.99979478e-01 -2.40016487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters 0.05612336074542802 Centerline is valid? [True, True] Translation: X:30.92, Y:2.96, Z:-0.24 [[ 9.92926896e-01 -1.18642554e-01 4.48597742e-03 3.09181560e+01] [ 1.18641914e-01 9.92937021e-01 4.09419631e-04 2.96478806e+00] [-4.50286765e-03 1.25701186e-04 9.99989854e-01 -2.42973734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50439141799999 meters 0.05313278768725999 Centerline is valid? [True, True] Translation: X:30.98, Y:2.99, Z:-0.24 [[ 9.92861808e-01 -1.19220632e-01 3.44540615e-03 3.09789987e+01] [ 1.19220258e-01 9.92867781e-01 3.14532680e-04 2.98599590e+00] [-3.45833155e-03 9.84747255e-05 9.99994015e-01 -2.43942481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56439141799999 meters 0.054314748621601655 Centerline is valid? [True, True] Translation: X:31.04, Y:2.99, Z:-0.24 [[ 9.92348048e-01 -1.23435252e-01 3.01485997e-03 3.10385071e+01] [ 1.23434986e-01 9.92352623e-01 2.74947660e-04 2.98948460e+00] [-3.02574243e-03 9.92954239e-05 9.99995418e-01 -2.43606777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters 0.05236386266172937 Centerline is valid? [True, True] Translation: X:31.10, Y:3.00, Z:-0.24 [[ 9.91600395e-01 -1.29256239e-01 4.63489871e-03 3.10980083e+01] [ 1.29255673e-01 9.91611210e-01 4.22595030e-04 3.00290259e+00] [-4.65064056e-03 1.80041553e-04 9.99989170e-01 -2.43228965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68439141799999 meters 0.05389455718058842 Centerline is valid? [True, True] Translation: X:31.16, Y:3.01, Z:-0.24 [[ 9.91156094e-01 -1.32612303e-01 4.85531696e-03 3.11586300e+01] [ 1.32611723e-01 9.91167965e-01 4.42670130e-04 3.00948818e+00] [-4.87113814e-03 2.05116750e-04 9.99988115e-01 -2.43332962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74439141799999 meters 0.05219367228714124 Centerline is valid? [True, True] Translation: X:31.22, Y:3.02, Z:-0.24 [[ 9.90364890e-01 -1.38399634e-01 4.78805925e-03 3.12193643e+01] [ 1.38399137e-01 9.90376438e-01 4.36523089e-04 3.01650528e+00] [-4.80239570e-03 2.30346127e-04 9.99988442e-01 -2.43623122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters 0.05577504849430082 Centerline is valid? [True, True] Translation: X:31.28, Y:3.01, Z:-0.24 [[ 9.89323933e-01 -1.45691495e-01 3.48482831e-03 3.12803116e+01] [ 1.45691277e-01 9.89330052e-01 3.17682983e-04 3.00689024e+00] [-3.49392908e-03 1.93417708e-04 9.99993878e-01 -2.44691952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86439141799999 meters 0.052391903761477135 Centerline is valid? [True, True] Translation: X:31.34, Y:3.02, Z:-0.25 [[ 9.88965204e-01 -1.48130890e-01 2.25058548e-03 3.13402256e+01] [ 1.48130805e-01 9.88967756e-01 2.05152386e-04 3.02481332e+00] [-2.25614588e-03 1.30492469e-04 9.99997446e-01 -2.46275637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92439141799999 meters 0.05142981709347689 Centerline is valid? [True, True] Translation: X:31.40, Y:3.04, Z:-0.25 [[ 9.88748504e-01 -1.49581466e-01 1.33464402e-03 3.14000970e+01] [ 1.49581438e-01 9.88749401e-01 1.21664540e-04 3.03732208e+00] [-1.33782723e-03 7.93423384e-05 9.99999102e-01 -2.45617760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters 0.05209109147617007 Centerline is valid? [True, True] Translation: X:31.46, Y:3.04, Z:-0.25 [[ 9.88720193e-01 -1.49755324e-01 2.39225411e-03 3.14612741e+01] [ 1.49755233e-01 9.88723077e-01 2.18371589e-04 3.03643850e+00] [-2.39797915e-03 1.42344171e-04 9.99997115e-01 -2.45834586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04439141799999 meters 0.05531482638308965 Centerline is valid? [True, True] Translation: X:31.52, Y:3.03, Z:-0.25 [[ 9.88934715e-01 -1.48332318e-01 2.37768843e-03 3.15224709e+01] [ 1.48332225e-01 9.88937563e-01 2.16405106e-04 3.02700714e+00] [-2.38348527e-03 1.38677294e-04 9.99997150e-01 -2.47641521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10439141799999 meters 0.05248856992609179 Centerline is valid? [True, True] Translation: X:31.58, Y:3.05, Z:-0.25 [[ 9.89148563e-01 -1.46891246e-01 2.84290278e-03 3.15818028e+01] [ 1.46891107e-01 9.89152635e-01 2.58770607e-04 3.04759113e+00] [-2.85007591e-03 1.61634562e-04 9.99995925e-01 -2.47001428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters 0.05157903400762502 Centerline is valid? [True, True] Translation: X:31.64, Y:3.06, Z:-0.25 [[ 9.89172139e-01 -1.46727096e-01 3.10463082e-03 3.16434716e+01] [ 1.46726929e-01 9.89176995e-01 2.82658617e-04 3.06054738e+00] [-3.11250306e-03 1.75934918e-04 9.99995141e-01 -2.46443710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22439141799999 meters 0.05348890630188849 Centerline is valid? [True, True] Translation: X:31.70, Y:3.05, Z:-0.25 [[ 9.88840900e-01 -1.48958675e-01 2.23339389e-03 3.17044236e+01] [ 1.48958595e-01 9.88843413e-01 2.03158941e-04 3.05341180e+00] [-2.23873912e-03 1.31791345e-04 9.99997485e-01 -2.46607791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28439141799999 meters 0.05228303257882262 Centerline is valid? [True, True] Translation: X:31.76, Y:3.06, Z:-0.25 [[ 9.88186571e-01 -1.53241710e-01 2.06847000e-03 3.17641380e+01] [ 1.53241651e-01 9.88188727e-01 1.88220116e-04 3.06335012e+00] [-2.07288191e-03 1.30979167e-04 9.99997843e-01 -2.47497535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters 0.05221613198337217 Centerline is valid? [True, True] Translation: X:31.82, Y:3.07, Z:-0.25 [[ 9.87663759e-01 -1.56565898e-01 2.72375311e-03 3.18246877e+01] [ 1.56565808e-01 9.87667498e-01 2.47757897e-04 3.06875388e+00] [-2.72895286e-03 1.81745110e-04 9.99996260e-01 -2.48788294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40439141799999 meters 0.052588650408359694 Centerline is valid? [True, True] Translation: X:31.89, Y:3.07, Z:-0.25 [[ 9.87437995e-01 -1.57992089e-01 2.16928964e-03 3.18853470e+01] [ 1.57992035e-01 9.87440367e-01 1.97324222e-04 3.07251639e+00] [-2.17321982e-03 1.47885051e-04 9.99997628e-01 -2.47842144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46439141799999 meters 0.05241074230658337 Centerline is valid? [True, True] Translation: X:31.95, Y:3.07, Z:-0.25 [[ 9.87686976e-01 -1.56415902e-01 2.91598838e-03 3.19452943e+01] [ 1.56415798e-01 9.87691261e-01 2.65188162e-04 3.07153895e+00] [-2.92157589e-03 1.94183757e-04 9.99995713e-01 -2.47103537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters 0.051782875401001294 Centerline is valid? [True, True] Translation: X:32.01, Y:3.08, Z:-0.25 [[ 9.87794928e-01 -1.55721486e-01 3.46405713e-03 3.20064065e+01] [ 1.55721334e-01 9.87800975e-01 3.15130716e-04 3.08228049e+00] [-3.47087164e-03 2.28143074e-04 9.99993950e-01 -2.47406023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58439141799999 meters 0.05535895629326183 Centerline is valid? [True, True] Translation: X:32.07, Y:3.07, Z:-0.25 [[ 9.88238052e-01 -1.52867536e-01 4.13146869e-03 3.20678157e+01] [ 1.52867296e-01 9.88246654e-01 3.75607305e-04 3.06780803e+00] [-4.14032827e-03 2.60377017e-04 9.99991395e-01 -2.48171302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64439141799999 meters 0.055817201453467385 Centerline is valid? [True, True] Translation: X:32.13, Y:3.07, Z:-0.25 [[ 9.88550791e-01 -1.50844240e-01 3.65347967e-03 3.21278661e+01] [ 1.50844039e-01 9.88557518e-01 3.32159167e-04 3.07381292e+00] [-3.66177909e-03 2.22749423e-04 9.99993271e-01 -2.47796845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters 0.05254898935088058 Centerline is valid? [True, True] Translation: X:32.19, Y:3.09, Z:-0.25 [[ 9.88945733e-01 -1.48261559e-01 2.20163431e-03 3.21867463e+01] [ 1.48261479e-01 9.88948175e-01 2.00191678e-04 3.09366780e+00] [-2.20698297e-03 1.28438855e-04 9.99997556e-01 -2.48254453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters 0.05505722813287613 Centerline is valid? [True, True] Translation: X:32.25, Y:3.09, Z:-0.25 [[ 9.89072156e-01 -1.47416306e-01 2.16846222e-03 3.22486442e+01] [ 1.47416227e-01 9.89074526e-01 1.97180299e-04 3.08588169e+00] [-2.17383834e-03 1.24640976e-04 9.99997629e-01 -2.48470341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82439141799999 meters 0.053976118569308305 Centerline is valid? [True, True] Translation: X:32.31, Y:3.09, Z:-0.25 [[ 9.89084990e-01 -1.47330330e-01 2.15765414e-03 3.23113951e+01] [ 1.47330251e-01 9.89087336e-01 1.96431522e-04 3.09452804e+00] [-2.16304871e-03 1.23600256e-04 9.99997653e-01 -2.47599057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters 0.05411715476163128 Centerline is valid? [True, True] Translation: X:32.37, Y:3.10, Z:-0.25 [[ 9.89135016e-01 -1.46989209e-01 2.46846686e-03 3.23734506e+01] [ 1.46989106e-01 9.89138086e-01 2.24282291e-04 3.10340317e+00] [-2.47462166e-03 1.40992268e-04 9.99996928e-01 -2.48022834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters 0.05490578376814959 Centerline is valid? [True, True] Translation: X:32.44, Y:3.10, Z:-0.25 [[ 9.89214383e-01 -1.46464970e-01 1.70778269e-03 3.24353013e+01] [ 1.46464919e-01 9.89215853e-01 1.55443952e-04 3.10003946e+00] [-1.71213280e-03 9.63628602e-05 9.99998530e-01 -2.49057516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00439141799999 meters 0.05447155354073839 Centerline is valid? [True, True] Translation: X:32.50, Y:3.10, Z:-0.25 [[ 9.89184088e-01 -1.46669484e-01 1.70370995e-03 3.24970824e+01] [ 1.46669434e-01 9.89185550e-01 1.54924008e-04 3.10419872e+00] [-1.70800789e-03 9.66338105e-05 9.99998537e-01 -2.48940993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters 0.05829632301706073 Centerline is valid? [True, True] Translation: X:32.56, Y:3.10, Z:-0.25 [[ 9.89239798e-01 -1.46284284e-01 2.35176286e-03 3.25590795e+01] [ 1.46284189e-01 9.89242584e-01 2.13319432e-04 3.09515352e+00] [-2.35766925e-03 1.33001652e-04 9.99997212e-01 -2.48685177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters 0.053323026163302874 Centerline is valid? [True, True] Translation: X:32.62, Y:3.12, Z:-0.25 [[ 9.89362033e-01 -1.45464932e-01 1.64976373e-03 3.26192400e+01] [ 1.45464884e-01 9.89363404e-01 1.49701008e-04 3.11725071e+00] [-1.65399211e-03 9.18741957e-05 9.99998628e-01 -2.48675630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18439141799999 meters 0.05306919368776292 Centerline is valid? [True, True] Translation: X:32.68, Y:3.12, Z:-0.25 [[ 9.89616959e-01 -1.43726521e-01 9.80717518e-04 3.26787960e+01] [ 1.43726503e-01 9.89617443e-01 8.85944554e-05 3.12094823e+00] [-9.83268535e-04 5.32805240e-05 9.99999515e-01 -2.49020258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24439141799999 meters 0.05730981712877556 Centerline is valid? [True, True] Translation: X:32.74, Y:3.11, Z:-0.25 [[ 9.90138996e-01 -1.40083508e-01 1.17410014e-03 3.27396535e+01] [ 1.40083481e-01 9.90139691e-01 1.06060432e-04 3.11258986e+00] [-1.17738047e-03 5.94574653e-05 9.99999305e-01 -2.50699975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters 0.056256452821865165 Centerline is valid? [True, True] Translation: X:32.80, Y:3.12, Z:-0.25 [[ 9.90675286e-01 -1.36233752e-01 1.68587412e-03 3.27993847e+01] [ 1.36233689e-01 9.90676718e-01 1.52319224e-04 3.12238550e+00] [-1.69090726e-03 7.87739602e-05 9.99998567e-01 -2.49899107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36439141799999 meters 0.056707195662210864 Centerline is valid? [True, True] Translation: X:32.86, Y:3.12, Z:-0.25 [[ 9.90996900e-01 -1.33876972e-01 1.44952390e-03 3.28590904e+01] [ 1.33876923e-01 9.90997958e-01 1.30925518e-04 3.12367262e+00] [-1.45400314e-03 6.43110169e-05 9.99998941e-01 -2.51149791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42439141799999 meters 0.05422531708474872 Centerline is valid? [True, True] Translation: X:32.92, Y:3.14, Z:-0.25 [[ 9.91452818e-01 -1.30443809e-01 2.39218431e-03 3.29184177e+01] [ 1.30443667e-01 9.91455699e-01 2.16099644e-04 3.13809614e+00] [-2.39993363e-03 9.77926918e-05 9.99997115e-01 -2.50501600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters 0.05456522948540064 Centerline is valid? [True, True] Translation: X:32.98, Y:3.14, Z:-0.25 [[ 9.91920491e-01 -1.26848600e-01 1.78132313e-03 3.29789545e+01] [ 1.26848515e-01 9.91922088e-01 1.60958044e-04 3.14387020e+00] [-1.78735106e-03 6.63006116e-05 9.99998400e-01 -2.50681857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54439141799999 meters 0.05550467367842553 Centerline is valid? [True, True] Translation: X:33.04, Y:3.14, Z:-0.25 [[ 9.92326890e-01 -1.23634566e-01 1.35556063e-03 3.30385398e+01] [ 1.23634514e-01 9.92327815e-01 1.22390658e-04 3.14348052e+00] [-1.36029223e-03 4.61425380e-05 9.99999074e-01 -2.51239506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60439141799999 meters 0.0553951303327814 Centerline is valid? [True, True] Translation: X:33.10, Y:3.15, Z:-0.25 [[ 9.93079182e-01 -1.17437990e-01 1.43450691e-03 3.30991072e+01] [ 1.17437925e-01 9.93080217e-01 1.29651153e-04 3.14704796e+00] [-1.43980641e-03 3.97116537e-05 9.99998963e-01 -2.52491443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters 0.05524492047011993 Centerline is valid? [True, True] Translation: X:33.16, Y:3.15, Z:-0.25 [[ 9.93791074e-01 -1.11247665e-01 1.80518746e-03 3.31580196e+01] [ 1.11247553e-01 9.93792713e-01 1.63010117e-04 3.15273045e+00] [-1.81211663e-03 3.88246876e-05 9.99998357e-01 -2.52896867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72439141799999 meters 0.054270355626386865 Centerline is valid? [True, True] Translation: X:33.22, Y:3.16, Z:-0.25 [[ 9.94975142e-01 -1.00118221e-01 8.99599713e-04 3.32174951e+01] [ 1.00118189e-01 9.94975548e-01 8.12947171e-05 3.16381238e+00] [-9.03218800e-04 9.18007132e-06 9.99999592e-01 -2.53360328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78439141799999 meters 0.05499325648098742 Centerline is valid? [True, True] Translation: X:33.28, Y:3.17, Z:-0.25 [[ 9.95719772e-01 -9.24187876e-02 9.50214503e-04 3.32787391e+01] [ 9.24187476e-02 9.95720226e-01 8.59869602e-05 3.17113222e+00] [-9.54094610e-04 2.19871796e-06 9.99999545e-01 -2.53777858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters 0.05514348556730061 Centerline is valid? [True, True] Translation: X:33.34, Y:3.18, Z:-0.25 [[ 9.96714078e-01 -8.09737863e-02 2.07192309e-03 3.33390499e+01] [ 8.09735722e-02 9.96716231e-01 1.87133944e-04 3.17889905e+00] [-2.08027232e-03 -1.87480227e-05 9.99997836e-01 -2.49963704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90439141799999 meters 0.05536942048704259 Centerline is valid? [True, True] Translation: X:33.40, Y:3.18, Z:-0.25 [[ 9.97151139e-01 -7.53880310e-02 2.50004719e-03 3.34000482e+01] [ 7.53877019e-02 9.97154273e-01 2.25737081e-04 3.18352417e+00] [-2.50995062e-03 -3.66211750e-05 9.99996849e-01 -2.49326914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96439141799999 meters 0.05558001856093725 Centerline is valid? [True, True] Translation: X:33.46, Y:3.18, Z:-0.25 [[ 9.97390329e-01 -7.21682613e-02 2.06752087e-03 3.34615368e+01] [ 7.21680287e-02 9.97392471e-01 1.86991134e-04 3.18351285e+00] [-2.07562457e-03 -3.72942439e-05 9.99997845e-01 -2.50486907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters 0.05677214738248437 Centerline is valid? [True, True] Translation: X:33.52, Y:3.18, Z:-0.25 [[ 9.97276172e-01 -7.37356495e-02 1.81384142e-03 3.35231748e+01] [ 7.37354733e-02 9.97277821e-01 1.63928554e-04 3.18415425e+00] [-1.82099120e-03 -2.97375852e-05 9.99998342e-01 -2.50830091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08439141799999 meters 0.055352068325004326 Centerline is valid? [True, True] Translation: X:33.58, Y:3.19, Z:-0.25 [[ 9.96744398e-01 -8.06141019e-02 1.40413512e-03 3.35841296e+01] [ 8.06140036e-02 9.96745387e-01 1.26528844e-04 3.18745956e+00] [-1.40976521e-03 -1.29239631e-05 9.99999006e-01 -2.51396871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14439141799999 meters 0.05624384419027943 Centerline is valid? [True, True] Translation: X:33.65, Y:3.18, Z:-0.25 [[ 9.95747685e-01 -9.21222181e-02 -2.13390150e-04 3.36475885e+01] [ 9.21222163e-02 9.95747707e-01 -1.85970918e-05 3.17906129e+00] [ 2.14195958e-04 -1.13996243e-06 9.99999977e-01 -2.53070065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters 0.056753400278269715 Centerline is valid? [True, True] Translation: X:33.71, Y:3.17, Z:-0.25 [[ 9.94792689e-01 -1.01918708e-01 -2.88225376e-04 3.37097535e+01] [ 1.01918705e-01 9.94792731e-01 -2.58271541e-05 3.17440504e+00] [ 2.89356779e-04 -3.68289284e-06 9.99999958e-01 -2.54150349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26439141799999 meters 0.05701379045506943 Centerline is valid? [True, True] Translation: X:33.77, Y:3.16, Z:-0.25 [[ 9.93496381e-01 -1.13860939e-01 7.92614074e-04 3.37711839e+01] [ 1.13860918e-01 9.93496697e-01 7.13215624e-05 3.16302462e+00] [-7.95580204e-04 1.93900523e-05 9.99999683e-01 -2.54269856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32439141799999 meters 0.0583492629416282 Centerline is valid? [True, True] Translation: X:33.83, Y:3.16, Z:-0.25 [[ 9.92941204e-01 -1.18594167e-01 1.78566178e-03 3.38318898e+01] [ 1.18594070e-01 9.92942808e-01 1.60611931e-04 3.15898605e+00] [-1.79210766e-03 5.22906940e-05 9.99998393e-01 -2.54402142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters 0.05860019759437483 Centerline is valid? [True, True] Translation: X:33.89, Y:3.16, Z:-0.25 [[ 9.92796486e-01 -1.19800314e-01 1.73843739e-03 3.38937920e+01] [ 1.19800223e-01 9.92798007e-01 1.56744039e-04 3.16171969e+00] [-1.74469516e-03 5.26502554e-05 9.99998477e-01 -2.54560001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters 0.0569588126183961 Centerline is valid? [True, True] Translation: X:33.95, Y:3.17, Z:-0.25 [[ 9.92423066e-01 -1.22854277e-01 1.81223632e-03 3.39543118e+01] [ 1.22854184e-01 9.92424719e-01 1.62812440e-04 3.17236080e+00] [-1.81851032e-03 6.10619935e-05 9.99998345e-01 -2.52895521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50439141799999 meters 0.05772966253284957 Centerline is valid? [True, True] Translation: X:34.01, Y:3.17, Z:-0.25 [[ 9.92105540e-01 -1.25402837e-01 8.51670191e-04 3.40148475e+01] [ 1.25402817e-01 9.92105905e-01 7.64921984e-05 3.16854910e+00] [-8.54539364e-04 3.09135075e-05 9.99999634e-01 -2.54801974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters 0.05800616349599949 Centerline is valid? [True, True] Translation: X:34.08, Y:3.17, Z:-0.26 [[ 9.91745845e-01 -1.28217749e-01 6.23463058e-04 3.40757635e+01] [ 1.28217739e-01 9.91746040e-01 5.60477085e-05 3.16900243e+00] [-6.25503330e-04 2.43539417e-05 9.99999804e-01 -2.56906566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters 0.056261549506085494 Centerline is valid? [True, True] Translation: X:34.14, Y:3.18, Z:-0.26 [[ 9.91325120e-01 -1.31432510e-01 -4.01996971e-05 3.41353327e+01] [ 1.31432510e-01 9.91325121e-01 -3.54429648e-06 3.18320403e+00] [ 4.03168054e-05 -1.76999695e-06 9.99999999e-01 -2.56585296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68439141799999 meters 0.05567715280382144 Centerline is valid? [True, True] Translation: X:34.20, Y:3.19, Z:-0.26 [[ 9.91219220e-01 -1.32226234e-01 -8.25279089e-04 3.41971831e+01] [ 1.32226218e-01 9.91219563e-01 -7.38722327e-05 3.19259545e+00] [ 8.27800625e-04 -3.58999558e-05 9.99999657e-01 -2.56645054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74439141799999 meters 0.057507969784879674 Centerline is valid? [True, True] Translation: X:34.26, Y:3.19, Z:-0.26 [[ 9.91166786e-01 -1.32613806e-01 -1.40747230e-03 3.42592636e+01] [ 1.32613761e-01 9.91167783e-01 -1.25523403e-04 3.18743560e+00] [ 1.41168734e-03 -6.22355681e-05 9.99999002e-01 -2.59024422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters 0.057355283144498365 Centerline is valid? [True, True] Translation: X:34.32, Y:3.20, Z:-0.26 [[ 9.91020205e-01 -1.33710048e-01 -7.59493560e-04 3.43210493e+01] [ 1.33710035e-01 9.91020495e-01 -6.78684566e-05 3.19720210e+00] [ 7.61748379e-04 -3.42928987e-05 9.99999709e-01 -2.57536998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86439141799999 meters 0.057460861682302515 Centerline is valid? [True, True] Translation: X:34.38, Y:3.20, Z:-0.26 [[ 9.90884393e-01 -1.34714738e-01 -2.44661107e-04 3.43823735e+01] [ 1.34714737e-01 9.90884423e-01 -2.12673908e-05 3.20210404e+00] [ 2.45295911e-04 -1.18859310e-05 9.99999970e-01 -2.56967354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92439141799999 meters 0.06053765589890782 Centerline is valid? [True, True] Translation: X:34.44, Y:3.20, Z:-0.26 [[ 9.90810174e-01 -1.35259334e-01 3.33556511e-04 3.44443461e+01] [ 1.35259331e-01 9.90810230e-01 3.04355663e-05 3.19653852e+00] [-3.34607898e-04 1.49607619e-05 9.99999944e-01 -2.58057458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters 0.05962097832006397 Centerline is valid? [True, True] Translation: X:34.51, Y:3.21, Z:-0.26 [[ 9.90631526e-01 -1.36553115e-01 1.55764535e-03 3.45054080e+01] [ 1.36553064e-01 9.90632748e-01 1.39335084e-04 3.20534950e+00] [-1.56208113e-03 7.46715193e-05 9.99998777e-01 -2.57459294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04439141799999 meters 0.05713138343148746 Centerline is valid? [True, True] Translation: X:34.57, Y:3.22, Z:-0.26 [[ 9.90515269e-01 -1.37400101e-01 8.45510220e-04 3.45666498e+01] [ 1.37400086e-01 9.90515629e-01 7.57470423e-05 3.21985582e+00] [-8.47898739e-04 4.11445751e-05 9.99999640e-01 -2.57560226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10439141799999 meters 0.057571691658196575 Centerline is valid? [True, True] Translation: X:34.63, Y:3.23, Z:-0.26 [[ 9.90395717e-01 -1.38261692e-01 -1.66393006e-04 3.46283184e+01] [ 1.38261691e-01 9.90395731e-01 -1.46742489e-05 3.22742284e+00] [ 1.66823809e-04 -8.47246509e-06 9.99999986e-01 -2.57664227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters 0.05784206808362206 Centerline is valid? [True, True] Translation: X:34.69, Y:3.23, Z:-0.26 [[ 9.90421913e-01 -1.38073582e-01 3.45427539e-04 3.46905807e+01] [ 1.38073579e-01 9.90421974e-01 3.14846861e-05 3.23355469e+00] [-3.46466228e-04 1.65112937e-05 9.99999940e-01 -2.57863571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22439141799999 meters 0.05712517223432783 Centerline is valid? [True, True] Translation: X:34.75, Y:3.25, Z:-0.26 [[ 9.90818365e-01 -1.35187016e-01 1.85431585e-03 3.47500708e+01] [ 1.35186943e-01 9.90820096e-01 1.65478381e-04 3.24508739e+00] [-1.85966394e-03 8.67202721e-05 9.99998267e-01 -2.57982824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28439141799999 meters 0.055789475312812004 Centerline is valid? [True, True] Translation: X:34.81, Y:3.26, Z:-0.26 [[ 9.91340057e-01 -1.31298659e-01 2.35668998e-03 3.48100673e+01] [ 1.31298529e-01 9.91342853e-01 2.10272854e-04 3.26010840e+00] [-2.36389632e-03 1.00978026e-04 9.99997201e-01 -2.57372373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters 0.056778327867838985 Centerline is valid? [True, True] Translation: X:34.87, Y:3.26, Z:-0.26 [[ 9.92451155e-01 -1.22604564e-01 2.97097681e-03 3.48700051e+01] [ 1.22604320e-01 9.92455596e-01 2.65038567e-04 3.26325821e+00] [-2.98105750e-03 1.01216759e-04 9.99995552e-01 -2.58288241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40439141799999 meters 0.05664022530596877 Centerline is valid? [True, True] Translation: X:34.93, Y:3.28, Z:-0.26 [[ 9.93413992e-01 -1.14550665e-01 2.60480143e-03 3.49297874e+01] [ 1.14550449e-01 9.93417405e-01 2.32347764e-04 3.27952550e+00] [-2.61427067e-03 6.75636547e-05 9.99996581e-01 -2.58253147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46439141799999 meters 0.056559500302501176 Centerline is valid? [True, True] Translation: X:34.99, Y:3.29, Z:-0.26 [[ 9.93851377e-01 -1.10701083e-01 2.17034172e-03 3.49894881e+01] [ 1.10700924e-01 9.93853746e-01 1.93588529e-04 3.28633351e+00] [-2.17843271e-03 4.78606071e-05 9.99997626e-01 -2.59780767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters 0.05582354307835159 Centerline is valid? [True, True] Translation: X:35.05, Y:3.30, Z:-0.26 [[ 9.94319809e-01 -1.06421167e-01 1.62893828e-03 3.50490335e+01] [ 1.06421071e-01 9.94321143e-01 1.45329936e-04 3.29962192e+00] [-1.63515395e-03 2.88489221e-05 9.99998663e-01 -2.61189383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58439141799999 meters 0.05568720670058722 Centerline is valid? [True, True] Translation: X:35.11, Y:3.31, Z:-0.26 [[ 9.94597350e-01 -1.03790576e-01 1.90448859e-03 3.51104908e+01] [ 1.03790441e-01 9.94599173e-01 1.69954685e-04 3.30842995e+00] [-1.91184248e-03 2.86312309e-05 9.99998172e-01 -2.61764164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64439141799999 meters 0.05552423117537337 Centerline is valid? [True, True] Translation: X:35.17, Y:3.32, Z:-0.26 [[ 9.95156808e-01 -9.82667187e-02 2.56518556e-03 3.51712564e+01] [ 9.82664553e-02 9.95160113e-01 2.28839655e-04 3.32216150e+00] [-2.57525767e-03 2.43403515e-05 9.99996684e-01 -2.61448092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters 0.05628342439389605 Centerline is valid? [True, True] Translation: X:35.23, Y:3.34, Z:-0.26 [[ 9.95727228e-01 -9.22835378e-02 3.32215504e-03 3.52322346e+01] [ 9.22830631e-02 9.95732770e-01 2.96211798e-04 3.33508710e+00] [-3.33531411e-03 1.16324902e-05 9.99994438e-01 -2.60608149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76439141799999 meters 0.05607470124949291 Centerline is valid? [True, True] Translation: X:35.29, Y:3.34, Z:-0.26 [[ 9.95968176e-01 -8.96361612e-02 3.57073321e-03 3.52927270e+01] [ 8.96355957e-02 9.95974577e-01 3.18408752e-04 3.34265322e+00] [-3.58490043e-03 2.93981433e-06 9.99993574e-01 -2.60639630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82439141799999 meters 0.05485897979131794 Centerline is valid? [True, True] Translation: X:35.36, Y:3.35, Z:-0.26 [[ 9.96001465e-01 -8.92428649e-02 4.09779416e-03 3.53550291e+01] [ 8.92421192e-02 9.96009895e-01 3.64826771e-04 3.34904527e+00] [-4.11400172e-03 2.32783660e-06 9.99991537e-01 -2.60242640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters 0.05502960064222195 Centerline is valid? [True, True] Translation: X:35.42, Y:3.35, Z:-0.26 [[ 9.95806366e-01 -9.14122730e-02 3.67123570e-03 3.54170761e+01] [ 9.14116903e-02 9.95813133e-01 3.26556750e-04 3.35406394e+00] [-3.68571602e-03 1.04065705e-05 9.99993208e-01 -2.61334480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94439141799999 meters 0.055157622173166616 Centerline is valid? [True, True] Translation: X:35.48, Y:3.36, Z:-0.26 [[ 9.95454314e-01 -9.52004293e-02 2.75453371e-03 3.54778864e+01] [ 9.52001160e-02 9.95458125e-01 2.44935284e-04 3.35882044e+00] [-2.76534091e-03 1.84100440e-05 9.99996176e-01 -2.61963698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00439141799999 meters 0.055472440262320684 Centerline is valid? [True, True] Translation: X:35.54, Y:3.36, Z:-0.26 [[ 9.94648214e-01 -1.03305199e-01 1.72246842e-03 3.55388048e+01] [ 1.03305089e-01 9.94649705e-01 1.52992707e-04 3.35749184e+00] [-1.72905765e-03 2.57658305e-05 9.99998505e-01 -2.63158240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters 0.05482911178923045 Centerline is valid? [True, True] Translation: X:35.60, Y:3.37, Z:-0.26 [[ 9.93836540e-01 -1.10814235e-01 3.02260553e-03 3.55990106e+01] [ 1.10813931e-01 9.93841134e-01 2.68371392e-04 3.37098321e+00] [-3.03372908e-03 6.82295053e-05 9.99995396e-01 -2.60381482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters 0.05639193947499414 Centerline is valid? [True, True] Translation: X:35.66, Y:3.36, Z:-0.26 [[ 9.93434318e-01 -1.14365169e-01 2.97737242e-03 3.56607744e+01] [ 1.14364890e-01 9.93438776e-01 2.64362441e-04 3.35845872e+00] [-2.98807107e-03 7.78801480e-05 9.99995533e-01 -2.62725489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18439141799999 meters 0.056411225715481995 Centerline is valid? [True, True] Translation: X:35.72, Y:3.36, Z:-0.26 [[ 9.92981897e-01 -1.18241674e-01 2.42046021e-03 3.57214016e+01] [ 1.18241501e-01 9.92984844e-01 2.14856072e-04 3.36170027e+00] [-2.42888525e-03 7.28506584e-05 9.99997048e-01 -2.63984427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24439141799999 meters 0.05805381916841986 Centerline is valid? [True, True] Translation: X:35.78, Y:3.36, Z:-0.27 [[ 9.92813739e-01 -1.19645741e-01 2.40323053e-03 3.57841105e+01] [ 1.19645575e-01 9.92816645e-01 2.13404521e-04 3.36166593e+00] [-2.41150021e-03 7.56649579e-05 9.99997089e-01 -2.65204931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters 0.05859894856161307 Centerline is valid? [True, True] Translation: X:35.85, Y:3.36, Z:-0.27 [[ 9.92808419e-01 -1.19695572e-01 2.10087292e-03 3.58467123e+01] [ 1.19695445e-01 9.92810639e-01 1.86802347e-04 3.36267412e+00] [-2.10812840e-03 6.60059756e-05 9.99997776e-01 -2.65909607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36439141799999 meters 0.055506027742120025 Centerline is valid? [True, True] Translation: X:35.91, Y:3.39, Z:-0.26 [[ 9.92912195e-01 -1.18835991e-01 1.83857362e-03 3.59067466e+01] [ 1.18835892e-01 9.92913896e-01 1.63368274e-04 3.39087475e+00] [-1.84495933e-03 5.62781854e-05 9.99998296e-01 -2.62938800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42439141799999 meters 0.055756288916471046 Centerline is valid? [True, True] Translation: X:35.97, Y:3.39, Z:-0.27 [[ 9.93358070e-01 -1.15056106e-01 1.35518277e-03 3.59679393e+01] [ 1.15056050e-01 9.93358994e-01 1.20016579e-04 3.39350411e+00] [-1.35999163e-03 3.67025385e-05 9.99999075e-01 -2.65236993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters 0.056281983617157666 Centerline is valid? [True, True] Translation: X:36.03, Y:3.40, Z:-0.27 [[ 9.93860913e-01 -1.10634219e-01 7.44777632e-04 3.60268983e+01] [ 1.10634200e-01 9.93861192e-01 6.59014752e-05 3.40071120e+00] [-7.47496544e-04 1.69009774e-05 9.99999720e-01 -2.66806751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54439141799999 meters 0.055404016809824236 Centerline is valid? [True, True] Translation: X:36.09, Y:3.42, Z:-0.27 [[ 9.94822360e-01 -1.01627925e-01 4.87765889e-04 3.60859568e+01] [ 1.01627916e-01 9.94822479e-01 4.31698135e-05 3.41729029e+00] [-4.89627730e-04 6.62433498e-06 9.99999880e-01 -2.66867036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60439141799999 meters 0.05484500578498151 Centerline is valid? [True, True] Translation: X:36.15, Y:3.44, Z:-0.26 [[ 9.95820805e-01 -9.13190746e-02 1.32302974e-03 3.61456902e+01] [ 9.13189996e-02 9.95821684e-01 1.17139065e-04 3.43550619e+00] [-1.32819873e-03 4.16823363e-06 9.99999118e-01 -2.64372434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters 0.05504790005498425 Centerline is valid? [True, True] Translation: X:36.21, Y:3.45, Z:-0.26 [[ 9.96270728e-01 -8.62660438e-02 1.67495299e-03 3.62069907e+01] [ 8.62659162e-02 9.96272136e-01 1.48418747e-04 3.44606616e+00] [-1.68151249e-03 -3.37389881e-06 9.99998586e-01 -2.64545389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72439141799999 meters 0.054857872986627525 Centerline is valid? [True, True] Translation: X:36.27, Y:3.46, Z:-0.26 [[ 9.96578097e-01 -8.26506595e-02 9.82427580e-04 3.62672924e+01] [ 8.26506134e-02 9.96578581e-01 8.74433280e-05 3.45634630e+00] [-9.86293532e-04 -5.94586326e-06 9.99999514e-01 -2.64767396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78439141799999 meters 0.055615996102288776 Centerline is valid? [True, True] Translation: X:36.33, Y:3.46, Z:-0.26 [[ 9.96518527e-01 -8.33575488e-02 1.53141709e-03 3.63294988e+01] [ 8.33574386e-02 9.96519703e-01 1.35753808e-04 3.46195652e+00] [-1.53740341e-03 -7.62617843e-06 9.99998818e-01 -2.64794922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters 0.055691466688940414 Centerline is valid? [True, True] Translation: X:36.39, Y:3.47, Z:-0.27 [[ 9.96306902e-01 -8.58583289e-02 9.51158664e-04 3.63916625e+01] [ 8.58582876e-02 9.96307356e-01 8.42204419e-05 3.46953320e+00] [-9.54877400e-04 -2.24455345e-06 9.99999544e-01 -2.65516039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90439141799999 meters 0.055186863486062804 Centerline is valid? [True, True] Translation: X:36.45, Y:3.47, Z:-0.27 [[ 9.96028540e-01 -8.90293720e-02 9.58399559e-04 3.64546053e+01] [ 8.90293316e-02 9.96029001e-01 8.47977880e-05 3.47354193e+00] [-9.62143249e-04 8.64655214e-07 9.99999537e-01 -2.66639064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96439141799999 meters 0.05500573943637758 Centerline is valid? [True, True] Translation: X:36.52, Y:3.48, Z:-0.27 [[ 9.95760109e-01 -9.19731501e-02 1.65655572e-03 3.65162617e+01] [ 9.19730337e-02 9.95761487e-01 1.46484183e-04 3.47861651e+00] [-1.66300700e-03 6.49534922e-06 9.99998617e-01 -2.65447926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters 0.054769243302654036 Centerline is valid? [True, True] Translation: X:36.58, Y:3.48, Z:-0.26 [[ 9.95368267e-01 -9.61025723e-02 2.51167904e-03 3.65779399e+01] [ 9.61023193e-02 9.95371436e-01 2.21481936e-04 3.48309971e+00] [-2.52133856e-03 2.09220908e-05 9.99996821e-01 -2.64928468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08439141799999 meters 0.05495161020089805 Centerline is valid? [True, True] Translation: X:36.64, Y:3.49, Z:-0.27 [[ 9.95058219e-01 -9.92518226e-02 2.86638516e-03 3.66392796e+01] [ 9.92515073e-02 9.95062347e-01 2.52374478e-04 3.48960825e+00] [-2.87728057e-03 3.33657484e-05 9.99995860e-01 -2.65255910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14439141799999 meters 0.05498190828181953 Centerline is valid? [True, True] Translation: X:36.70, Y:3.49, Z:-0.27 [[ 9.94791433e-01 -1.01874198e-01 3.41366878e-03 3.67019073e+01] [ 1.01873768e-01 9.94797289e-01 3.00067451e-04 3.48825395e+00] [-3.42647758e-03 4.92587736e-05 9.99994128e-01 -2.66514342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters 0.0556333612503726 Centerline is valid? [True, True] Translation: X:36.77, Y:3.49, Z:-0.27 [[ 9.94826004e-01 -1.01558730e-01 2.65428139e-03 3.67651172e+01] [ 1.01558469e-01 9.94829545e-01 2.33357678e-04 3.49323247e+00] [-2.66425706e-03 3.74144674e-05 9.99996450e-01 -2.67183436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26439141799999 meters 0.056097870075020435 Centerline is valid? [True, True] Translation: X:36.83, Y:3.50, Z:-0.27 [[ 9.95037201e-01 -9.94837156e-02 1.98980959e-03 3.68270637e+01] [ 9.94835645e-02 9.95039190e-01 1.74990440e-04 3.49853901e+00] [-1.99734722e-03 2.38313530e-05 9.99998005e-01 -2.69331435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32439141799999 meters 0.05550441346894707 Centerline is valid? [True, True] Translation: X:36.89, Y:3.51, Z:-0.27 [[ 9.95283530e-01 -9.69908877e-02 1.86095774e-03 3.68884096e+01] [ 9.69907515e-02 9.95285269e-01 1.63520607e-04 3.50854672e+00] [-1.86804383e-03 1.77463228e-05 9.99998255e-01 -2.69744867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters 0.05547545479075947 Centerline is valid? [True, True] Translation: X:36.95, Y:3.52, Z:-0.27 [[ 9.95909878e-01 -9.03488418e-02 7.75947375e-04 3.69487206e+01] [ 9.03488159e-02 9.95910180e-01 6.84422621e-05 3.52144236e+00] [-7.78957569e-04 1.94360160e-06 9.99999697e-01 -2.68439156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44439141799999 meters 0.05485109726793741 Centerline is valid? [True, True] Translation: X:37.01, Y:3.53, Z:-0.27 [[ 9.96399126e-01 -8.47786007e-02 1.17112054e-03 3.70101758e+01] [ 8.47785386e-02 9.96399814e-01 1.02651088e-04 3.53062056e+00] [-1.17560690e-03 -2.99556710e-06 9.99999309e-01 -2.71700828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50439141799999 meters 0.055006211215739294 Centerline is valid? [True, True] Translation: X:37.07, Y:3.54, Z:-0.27 [[ 9.97063744e-01 -7.65646313e-02 1.32191107e-03 3.70705628e+01] [ 7.65645451e-02 9.97064620e-01 1.15721754e-04 3.53803074e+00] [-1.32689095e-03 -1.41704452e-05 9.99999120e-01 -2.69302649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters 0.05536124914969113 Centerline is valid? [True, True] Translation: X:37.13, Y:3.55, Z:-0.27 [[ 9.97454566e-01 -7.12920191e-02 1.35546112e-03 3.71299915e+01] [ 7.12919240e-02 9.97455487e-01 1.18463476e-04 3.54530738e+00] [-1.36045763e-03 -2.15285042e-05 9.99999074e-01 -2.68239598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62439141799999 meters 0.055700523718182196 Centerline is valid? [True, True] Translation: X:37.19, Y:3.55, Z:-0.27 [[ 9.97582905e-01 -6.94638793e-02 1.76555751e-03 3.71921501e+01] [ 6.94637147e-02 9.97584467e-01 1.54471334e-04 3.55194391e+00] [-1.77202292e-03 -3.14557795e-05 9.99998429e-01 -2.68439764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68439141799999 meters 0.05652642112868156 Centerline is valid? [True, True] Translation: X:37.25, Y:3.56, Z:-0.27 [[ 9.97592854e-01 -6.92919564e-02 2.66890969e-03 3.72542181e+01] [ 6.92915815e-02 9.97596423e-01 2.32799061e-04 3.56364317e+00] [-2.67862586e-03 -4.73057064e-05 9.99996411e-01 -2.70773087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74439141799999 meters 0.05527372424223657 Centerline is valid? [True, True] Translation: X:37.32, Y:3.56, Z:-0.27 [[ 9.97477433e-01 -7.09203091e-02 3.01338613e-03 3.73172222e+01] [ 7.09198387e-02 9.97481984e-01 2.62803756e-04 3.55684377e+00] [-3.02443650e-03 -4.84319576e-05 9.99995425e-01 -2.68864134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters 0.0563451766595119 Centerline is valid? [True, True] Translation: X:37.38, Y:3.56, Z:-0.27 [[ 9.97281667e-01 -7.36375125e-02 2.60642252e-03 3.73787093e+01] [ 7.36371712e-02 9.97285072e-01 2.26787807e-04 3.55851891e+00] [-2.61604636e-03 -3.42417406e-05 9.99996578e-01 -2.68363230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86439141799999 meters 0.05630163431979973 Centerline is valid? [True, True] Translation: X:37.44, Y:3.56, Z:-0.27 [[ 9.97182571e-01 -7.49833954e-02 2.10034810e-03 3.74410080e+01] [ 7.49831766e-02 9.97184782e-01 1.82822877e-04 3.56107078e+00] [-2.10814385e-03 -2.48170141e-05 9.99997778e-01 -2.69229891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92439141799999 meters 0.05580860207426386 Centerline is valid? [True, True] Translation: X:37.50, Y:3.56, Z:-0.27 [[ 9.97182758e-01 -7.49620054e-02 2.69177656e-03 3.75044010e+01] [ 7.49616456e-02 9.97186390e-01 2.34423392e-04 3.55732110e+00] [-2.70177580e-03 -3.19829636e-05 9.99996350e-01 -2.69038914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters 0.05663154407522007 Centerline is valid? [True, True] Translation: X:37.57, Y:3.56, Z:-0.27 [[ 9.97300746e-01 -7.33538325e-02 3.23082177e-03 3.75651448e+01] [ 7.33533084e-02 9.97305978e-01 2.80557281e-04 3.55888985e+00] [-3.24269782e-03 -4.28085200e-05 9.99994742e-01 -2.67836161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04439141799999 meters 0.056524209973570196 Centerline is valid? [True, True] Translation: X:37.63, Y:3.56, Z:-0.27 [[ 9.97396238e-01 -7.20533592e-02 3.00973353e-03 3.76273354e+01] [ 7.20528984e-02 9.97400778e-01 2.61378579e-04 3.56333696e+00] [-3.02074376e-03 -4.38379874e-05 9.99995437e-01 -2.68543083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10439141799999 meters 0.05696230760944044 Centerline is valid? [True, True] Translation: X:37.69, Y:3.56, Z:-0.27 [[ 9.97502652e-01 -7.05873550e-02 2.42573243e-03 3.76898028e+01] [ 7.05870515e-02 9.97505601e-01 2.10632860e-04 3.55978211e+00] [-2.43454970e-03 -3.88815365e-05 9.99997036e-01 -2.69598171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters 0.056900414558532134 Centerline is valid? [True, True] Translation: X:37.75, Y:3.56, Z:-0.27 [[ 9.97575196e-01 -6.95578703e-02 2.33025110e-03 3.77507284e+01] [ 6.95575870e-02 9.97577917e-01 2.02487558e-04 3.56397475e+00] [-2.33869164e-03 -3.99099223e-05 9.99997264e-01 -2.70130807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22439141799999 meters 0.05719009600598222 Centerline is valid? [True, True] Translation: X:37.81, Y:3.56, Z:-0.27 [[ 9.97579060e-01 -6.94952956e-02 2.53450053e-03 3.78141263e+01] [ 6.94949609e-02 9.97582278e-01 2.19980343e-04 3.56100659e+00] [-2.54366042e-03 -4.33127685e-05 9.99996764e-01 -2.69028982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28439141799999 meters 0.05722209135175177 Centerline is valid? [True, True] Translation: X:37.88, Y:3.56, Z:-0.27 [[ 9.97476415e-01 -7.09828738e-02 1.49442296e-03 3.78756689e+01] [ 7.09827591e-02 9.97477534e-01 1.29720902e-04 3.56302856e+00] [-1.49986129e-03 -2.33152758e-05 9.99998875e-01 -2.71161420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters 0.057860277670030415 Centerline is valid? [True, True] Translation: X:37.94, Y:3.56, Z:-0.27 [[ 9.97242624e-01 -7.42092734e-02 3.62824494e-04 3.79374358e+01] [ 7.42092668e-02 9.97242690e-01 3.14782684e-05 3.55807095e+00] [-3.64160054e-04 -4.46653135e-06 9.99999934e-01 -2.73393835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40439141799999 meters 0.05710182443926892 Centerline is valid? [True, True] Translation: X:38.00, Y:3.55, Z:-0.27 [[ 9.97221206e-01 -7.44952950e-02 5.64138197e-04 3.80002220e+01] [ 7.44952791e-02 9.97221365e-01 4.92990168e-05 3.55321195e+00] [-5.66243207e-04 -7.13639255e-06 9.99999840e-01 -2.70977677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46439141799999 meters 0.058535067422835985 Centerline is valid? [True, True] Translation: X:38.06, Y:3.55, Z:-0.27 [[ 9.97430778e-01 -7.16317940e-02 8.54223789e-04 3.80626663e+01] [ 7.16317569e-02 9.97431143e-01 7.39188559e-05 3.54918725e+00] [-8.57324351e-04 -1.25393911e-05 9.99999632e-01 -2.70614165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters 0.05854974919737368 Centerline is valid? [True, True] Translation: X:38.13, Y:3.55, Z:-0.27 [[ 9.97561596e-01 -6.97720413e-02 1.65046700e-03 3.81254171e+01] [ 6.97719010e-02 9.97562961e-01 1.42510727e-04 3.54937564e+00] [-1.65638802e-03 -2.70070077e-05 9.99998628e-01 -2.70287218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58439141799999 meters 0.059264507623322624 Centerline is valid? [True, True] Translation: X:38.19, Y:3.56, Z:-0.27 [[ 9.97650196e-01 -6.84880864e-02 1.86222886e-03 3.81856423e+01] [ 6.84879057e-02 9.97651934e-01 1.60714636e-04 3.55919186e+00] [-1.86886326e-03 -3.27968341e-05 9.99998253e-01 -2.73710397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64439141799999 meters 0.05860178907224306 Centerline is valid? [True, True] Translation: X:38.25, Y:3.55, Z:-0.28 [[ 9.97564685e-01 -6.97370016e-02 1.20436665e-03 3.82483074e+01] [ 6.97369269e-02 9.97565412e-01 1.03961978e-04 3.55411519e+00] [-1.20868451e-03 -1.97199684e-05 9.99999269e-01 -2.75384769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters 0.059340350570024764 Centerline is valid? [True, True] Translation: X:38.31, Y:3.55, Z:-0.28 [[ 9.97482513e-01 -7.09022149e-02 1.22941870e-03 3.83106882e+01] [ 7.09021380e-02 9.97483271e-01 1.06085189e-04 3.54955132e+00] [-1.23384626e-03 -1.86497061e-05 9.99999239e-01 -2.75425210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76439141799999 meters 0.058972057843853724 Centerline is valid? [True, True] Translation: X:38.37, Y:3.54, Z:-0.27 [[ 9.97368669e-01 -7.24923918e-02 7.68981172e-04 3.83735262e+01] [ 7.24923618e-02 9.97368965e-01 6.67692030e-05 3.54035808e+00] [-7.71798215e-04 -1.08482498e-05 9.99999702e-01 -2.74008338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82439141799999 meters 0.058998411343324744 Centerline is valid? [True, True] Translation: X:38.44, Y:3.53, Z:-0.27 [[ 9.97260961e-01 -7.39434953e-02 1.71333620e-03 3.84368286e+01] [ 7.39433510e-02 9.97262432e-01 1.47542884e-04 3.53431702e+00] [-1.71955566e-03 -2.04489386e-05 9.99998521e-01 -2.72039775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters 0.05902495536911103 Centerline is valid? [True, True] Translation: X:38.50, Y:3.53, Z:-0.27 [[ 9.97250952e-01 -7.40859187e-02 1.34713391e-03 3.85000967e+01] [ 7.40858293e-02 9.97251862e-01 1.16234116e-04 3.53387150e+00] [-1.35204311e-03 -1.61110497e-05 9.99999086e-01 -2.73021264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94439141799999 meters 0.059360066803272334 Centerline is valid? [True, True] Translation: X:38.56, Y:3.53, Z:-0.27 [[ 9.97322894e-01 -7.31133390e-02 1.21817224e-03 3.85622095e+01] [ 7.31132655e-02 9.97323638e-01 1.04823833e-04 3.53329537e+00] [-1.22257599e-03 -1.54786580e-05 9.99999253e-01 -2.73596512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00439141799999 meters 0.059102584770804496 Centerline is valid? [True, True] Translation: X:38.62, Y:3.53, Z:-0.27 [[ 9.97401745e-01 -7.20170552e-02 1.81758182e-03 3.86242779e+01] [ 7.20168900e-02 9.97403400e-01 1.56271519e-04 3.53111123e+00] [-1.82411650e-03 -2.49688955e-05 9.99998336e-01 -2.73757381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters 0.0597176491568101 Centerline is valid? [True, True] Translation: X:38.69, Y:3.53, Z:-0.27 [[ 9.97429540e-01 -7.16090108e-02 2.54211323e-03 3.86864639e+01] [ 7.16086867e-02 9.97432779e-01 2.18425395e-04 3.53105355e+00] [-2.55122829e-03 -3.58265513e-05 9.99996745e-01 -2.72637574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12439141799999 meters 0.05982687062013697 Centerline is valid? [True, True] Translation: X:38.75, Y:3.53, Z:-0.27 [[ 9.97373557e-01 -7.23541815e-02 3.29558651e-03 3.87481970e+01] [ 7.23536413e-02 9.97379000e-01 2.83013797e-04 3.53099576e+00] [-3.30742601e-03 -4.38227934e-05 9.99994529e-01 -2.73459954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18439141799999 meters 0.05962430277333933 Centerline is valid? [True, True] Translation: X:38.81, Y:3.53, Z:-0.27 [[ 9.97316014e-01 -7.31593651e-02 2.91113968e-03 3.88098816e+01] [ 7.31589469e-02 9.97320262e-01 2.50022564e-04 3.52889860e+00] [-2.92163008e-03 -3.63755931e-05 9.99995731e-01 -2.74841460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters 0.05953306968539664 Centerline is valid? [True, True] Translation: X:38.87, Y:3.53, Z:-0.28 [[ 9.97319971e-01 -7.31127944e-02 2.71934986e-03 3.88725452e+01] [ 7.31124298e-02 9.97323678e-01 2.33384807e-04 3.53188782e+00] [-2.72913542e-03 -3.39410526e-05 9.99996275e-01 -2.75776427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30439141799999 meters 0.059522378556542146 Centerline is valid? [True, True] Translation: X:38.93, Y:3.53, Z:-0.28 [[ 9.97392008e-01 -7.20986346e-02 3.31207449e-03 3.89344267e+01] [ 7.20980891e-02 9.97397506e-01 2.83961081e-04 3.53356238e+00] [-3.32392804e-03 -4.44262708e-05 9.99994475e-01 -2.75602486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36439141799999 meters 0.05986560972238827 Centerline is valid? [True, True] Translation: X:39.00, Y:3.53, Z:-0.28 [[ 9.97408068e-01 -7.18953899e-02 2.86334205e-03 3.89962824e+01] [ 7.18949815e-02 9.97412177e-01 2.45451487e-04 3.53458866e+00] [-2.87357906e-03 -3.89553701e-05 9.99995871e-01 -2.76550829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42439141799999 meters 0.06003771372082546 Centerline is valid? [True, True] Translation: X:39.06, Y:3.54, Z:-0.28 [[ 9.97236204e-01 -7.42334782e-02 3.05666854e-03 3.90591649e+01] [ 7.42330241e-02 9.97240888e-01 2.61898118e-04 3.53535669e+00] [-3.06767646e-03 -3.42685353e-05 9.99995294e-01 -2.76358912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters 0.059980250795105355 Centerline is valid? [True, True] Translation: X:39.12, Y:3.54, Z:-0.28 [[ 9.96918224e-01 -7.84100746e-02 2.43193999e-03 3.91210175e+01] [ 7.84097997e-02 9.96921190e-01 2.08305265e-04 3.53688308e+00] [-2.44078574e-03 -1.69753873e-05 9.99997021e-01 -2.77352639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54439141799999 meters 0.05999752921935133 Centerline is valid? [True, True] Translation: X:39.18, Y:3.53, Z:-0.28 [[ 9.96182381e-01 -8.72716710e-02 2.07842752e-03 3.91841048e+01] [ 8.72714890e-02 9.96184549e-01 1.78288989e-04 3.53309590e+00] [-2.08605696e-03 3.77911458e-06 9.99997824e-01 -2.76258749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60439141799999 meters 0.05995319511400729 Centerline is valid? [True, True] Translation: X:39.25, Y:3.53, Z:-0.28 [[ 9.95691896e-01 -9.26814763e-02 2.79136664e-03 3.92467237e+01] [ 9.26811712e-02 9.95695809e-01 2.38711933e-04 3.53459283e+00] [-2.80147624e-03 2.10235923e-05 9.99996076e-01 -2.77042270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters 0.059690906119976885 Centerline is valid? [True, True] Translation: X:39.31, Y:3.54, Z:-0.28 [[ 9.95283397e-01 -9.69740111e-02 2.64595958e-03 3.93075219e+01] [ 9.69737523e-02 9.95286914e-01 2.26235788e-04 3.53569759e+00] [-2.65542793e-03 3.14199050e-05 9.99996474e-01 -2.77169584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72439141799999 meters 0.060149480272764365 Centerline is valid? [True, True] Translation: X:39.37, Y:3.54, Z:-0.28 [[ 9.95434489e-01 -9.53756638e-02 3.69594117e-03 3.93683589e+01] [ 9.53751491e-02 9.95441350e-01 3.15663595e-04 3.54067561e+00] [-3.70919929e-03 3.82785101e-05 9.99993120e-01 -2.76688396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78439141799999 meters 0.0600261591131805 Centerline is valid? [True, True] Translation: X:39.43, Y:3.55, Z:-0.28 [[ 9.95743202e-01 -9.20437657e-02 4.83948047e-03 3.94305626e+01] [ 9.20428458e-02 9.95754962e-01 4.12928016e-04 3.54990383e+00] [-4.85694414e-03 3.42692899e-05 9.99988204e-01 -2.75861384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters 0.05993373420144177 Centerline is valid? [True, True] Translation: X:39.49, Y:3.56, Z:-0.28 [[ 9.96285425e-01 -8.60036326e-02 4.32742334e-03 3.94918478e+01] [ 8.60028413e-02 9.96294823e-01 3.68970086e-04 3.56057776e+00] [-4.34312224e-03 4.57118341e-06 9.99990569e-01 -2.76449049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90439141799999 meters 0.05962467902111283 Centerline is valid? [True, True] Translation: X:39.55, Y:3.57, Z:-0.28 [[ 9.96578222e-01 -8.25557806e-02 4.04850792e-03 3.95526974e+01] [ 8.25550600e-02 9.96586445e-01 3.45069386e-04 3.56839553e+00] [-4.06317559e-03 -9.66382048e-06 9.99991745e-01 -2.77982197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96439141799999 meters 0.05944290407200634 Centerline is valid? [True, True] Translation: X:39.61, Y:3.58, Z:-0.28 [[ 9.96864609e-01 -7.90565272e-02 3.31923161e-03 3.96140038e+01] [ 7.90560234e-02 9.96870135e-01 2.82901113e-04 3.57847493e+00] [-3.33120805e-03 -1.96088550e-05 9.99994451e-01 -2.79184445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters 0.059787400380130966 Centerline is valid? [True, True] Translation: X:39.68, Y:3.59, Z:-0.28 [[ 9.96937822e-01 -7.81419946e-02 2.96770527e-03 3.96752824e+01] [ 7.81415882e-02 9.96942239e-01 2.52835266e-04 3.58589508e+00] [-2.97838779e-03 -2.01598361e-05 9.99995564e-01 -2.80322224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08439141799999 meters 0.05994533539814131 Centerline is valid? [True, True] Translation: X:39.74, Y:3.59, Z:-0.28 [[ 9.96804701e-01 -7.97958932e-02 3.60596344e-03 3.97370660e+01] [ 7.97953045e-02 9.96811223e-01 3.07073938e-04 3.58970867e+00] [-3.61896806e-03 -1.83537951e-05 9.99993451e-01 -2.80254438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14439141799999 meters 0.059578798436604276 Centerline is valid? [True, True] Translation: X:39.80, Y:3.60, Z:-0.28 [[ 9.96709849e-01 -8.09895539e-02 3.18880815e-03 3.97977760e+01] [ 8.09890992e-02 9.96714950e-01 2.71665240e-04 3.59599647e+00] [-3.20033480e-03 -1.25127213e-05 9.99994879e-01 -2.81268655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters 0.059620250266306005 Centerline is valid? [True, True] Translation: X:39.86, Y:3.60, Z:-0.28 [[ 9.96212110e-01 -8.69005034e-02 3.12002007e-03 3.98596253e+01] [ 8.69000980e-02 9.96216996e-01 2.65526823e-04 3.60033607e+00] [-3.13129143e-03 6.60901360e-06 9.99995097e-01 -2.81290080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26439141799999 meters 0.0597869846915851 Centerline is valid? [True, True] Translation: X:39.92, Y:3.60, Z:-0.28 [[ 9.95721330e-01 -9.23402570e-02 3.50845019e-03 3.99204263e+01] [ 9.23397798e-02 9.95727511e-01 2.98107280e-04 3.60413811e+00] [-3.52098768e-03 2.71377408e-05 9.99993801e-01 -2.81242724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32439141799999 meters 0.060453395187188924 Centerline is valid? [True, True] Translation: X:39.98, Y:3.61, Z:-0.28 [[ 9.95318465e-01 -9.65503124e-02 4.38059188e-03 3.99825022e+01] [ 9.65496121e-02 9.95328104e-01 3.71555763e-04 3.60887845e+00] [-4.39600003e-03 5.31281343e-05 9.99990336e-01 -2.81258496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters 0.05921193921943059 Centerline is valid? [True, True] Translation: X:40.04, Y:3.61, Z:-0.28 [[ 9.94665170e-01 -1.03061935e-01 4.40880140e-03 4.00428754e+01] [ 1.03061290e-01 9.94674937e-01 3.73789929e-04 3.61229133e+00] [-4.42384777e-03 8.25809360e-05 9.99990211e-01 -2.80860387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44439141799999 meters 0.05929289800219322 Centerline is valid? [True, True] Translation: X:40.10, Y:3.62, Z:-0.28 [[ 9.94150858e-01 -1.07922477e-01 4.10004573e-03 4.01024105e+01] [ 1.07921961e-01 9.94159308e-01 3.47568154e-04 3.62274173e+00] [-4.11360905e-03 9.69497955e-05 9.99991534e-01 -2.81392254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50439141799999 meters 0.06137325748318756 Centerline is valid? [True, True] Translation: X:40.16, Y:3.61, Z:-0.28 [[ 9.93296916e-01 -1.15555043e-01 2.87543109e-03 4.01636519e+01] [ 1.15554821e-01 9.93301074e-01 2.43768371e-04 3.61329705e+00] [-2.88433745e-03 9.01355531e-05 9.99995836e-01 -2.83552520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters 0.06118385873947633 Centerline is valid? [True, True] Translation: X:40.22, Y:3.62, Z:-0.28 [[ 9.92841085e-01 -1.19401863e-01 3.12648096e-03 4.02235924e+01] [ 1.19401619e-01 9.92846002e-01 2.65020391e-04 3.62179492e+00] [-3.13575805e-03 1.10183757e-04 9.99995077e-01 -2.83530775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62439141799999 meters 0.06008050224634053 Centerline is valid? [True, True] Translation: X:40.28, Y:3.64, Z:-0.28 [[ 9.92300666e-01 -1.23808264e-01 3.30196768e-03 4.02837897e+01] [ 1.23808017e-01 9.92306151e-01 2.79878452e-04 3.63862764e+00] [-3.31121411e-03 1.31086496e-04 9.99994509e-01 -2.84233807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68439141799999 meters 0.06197220642516557 Centerline is valid? [True, True] Translation: X:40.34, Y:3.64, Z:-0.29 [[ 9.91965274e-01 -1.26493008e-01 2.10104357e-03 4.03433478e+01] [ 1.26492914e-01 9.91967495e-01 1.78073886e-04 3.64060237e+00] [-2.10669203e-03 8.91240120e-05 9.99997777e-01 -2.85022345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters 0.06100812495401947 Centerline is valid? [True, True] Translation: X:40.40, Y:3.65, Z:-0.29 [[ 9.91856112e-01 -1.27334487e-01 2.71675929e-03 4.04047805e+01] [ 1.27334333e-01 9.91859826e-01 2.30277904e-04 3.64993106e+00] [-2.72396672e-03 1.17534186e-04 9.99996283e-01 -2.85520954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80439141799999 meters 0.06239159310567809 Centerline is valid? [True, True] Translation: X:40.47, Y:3.66, Z:-0.29 [[ 9.91805434e-01 -1.27701161e-01 3.79403891e-03 4.04660200e+01] [ 1.27700864e-01 9.91812677e-01 3.21458304e-04 3.65617397e+00] [-3.80402649e-03 1.65677954e-04 9.99992751e-01 -2.86286289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86439141799999 meters 0.060361002158644005 Centerline is valid? [True, True] Translation: X:40.53, Y:3.68, Z:-0.29 [[ 9.91560038e-01 -1.29602592e-01 3.44382302e-03 4.05251841e+01] [ 1.29602359e-01 9.91566006e-01 2.91510024e-04 3.67534217e+00] [-3.45255829e-03 1.57277899e-04 9.99994028e-01 -2.86261345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92439141799999 meters 0.06100834233011973 Centerline is valid? [True, True] Translation: X:40.59, Y:3.68, Z:-0.29 [[ 9.91386508e-01 -1.30933900e-01 3.01764306e-03 4.05852413e+01] [ 1.30933728e-01 9.91391090e-01 2.55374393e-04 3.68238035e+00] [-3.02510161e-03 1.41936528e-04 9.99995414e-01 -2.86693875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98439141799999 meters 0.060828290840034896 Centerline is valid? [True, True] Translation: X:40.64, Y:3.70, Z:-0.29 [[ 9.91143175e-01 -1.32793673e-01 1.02354987e-03 4.06448757e+01] [ 1.32793654e-01 9.91143702e-01 8.66417781e-05 3.69543916e+00] [-1.02599049e-03 5.00465208e-05 9.99999472e-01 -2.88720685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04439141799999 meters 0.05823311414539594 Centerline is valid? [True, True] Translation: X:40.70, Y:3.72, Z:-0.29 [[ 9.91029844e-01 -1.33634053e-01 1.33721785e-03 4.07044665e+01] [ 1.33634021e-01 9.91030744e-01 1.13292563e-04 3.72182133e+00] [-1.34036374e-03 6.64214879e-05 9.99999100e-01 -2.87914946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10439141799999 meters 0.060301758173597494 Centerline is valid? [True, True] Translation: X:40.76, Y:3.72, Z:-0.29 [[ 9.91381069e-01 -1.31000868e-01 1.53237761e-03 4.07646298e+01] [ 1.31000824e-01 9.91382251e-01 1.29564680e-04 3.72370145e+00] [-1.53614505e-03 7.22947587e-05 9.99998818e-01 -2.88583310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters 0.05983195206041747 Centerline is valid? [True, True] Translation: X:40.82, Y:3.74, Z:-0.29 [[ 9.92102122e-01 -1.25386465e-01 3.40793235e-03 4.08243930e+01] [ 1.25386214e-01 9.92107965e-01 2.88227965e-04 3.74031659e+00] [-3.41717671e-03 1.41356159e-04 9.99994151e-01 -2.87417650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22439141799999 meters 0.0615971082900668 Centerline is valid? [True, True] Translation: X:40.88, Y:3.75, Z:-0.29 [[ 9.92655019e-01 -1.20907939e-01 4.15739257e-03 4.08831686e+01] [ 1.20907525e-01 9.92663713e-01 3.51595505e-04 3.74796855e+00] [-4.16940343e-03 1.53647004e-04 9.99991296e-01 -2.87262771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28439141799999 meters 0.058534714087863954 Centerline is valid? [True, True] Translation: X:40.94, Y:3.77, Z:-0.29 [[ 9.93379677e-01 -1.14799328e-01 4.23464464e-03 4.09425537e+01] [ 1.14798844e-01 9.93388694e-01 3.58192771e-04 3.77244658e+00] [-4.24776839e-03 1.30310888e-04 9.99990970e-01 -2.87328770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters 0.0592638507862647 Centerline is valid? [True, True] Translation: X:41.00, Y:3.78, Z:-0.29 [[ 9.93629851e-01 -1.12602957e-01 4.50473939e-03 4.10039168e+01] [ 1.12602386e-01 9.93640054e-01 3.81050753e-04 3.78122301e+00] [-4.51899693e-03 1.28621001e-04 9.99989781e-01 -2.88579588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40439141799999 meters 0.05937046487561294 Centerline is valid? [True, True] Translation: X:41.06, Y:3.79, Z:-0.29 [[ 9.93690554e-01 -1.12113216e-01 3.11620564e-03 4.10647170e+01] [ 1.12112940e-01 9.93695436e-01 2.63620740e-04 3.79032470e+00] [-3.12611469e-03 8.74095360e-05 9.99995110e-01 -2.90755336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46439141799999 meters 0.05909086774075295 Centerline is valid? [True, True] Translation: X:41.13, Y:3.80, Z:-0.29 [[ 9.93610554e-01 -1.12836523e-01 2.44667006e-03 4.11264251e+01] [ 1.12836355e-01 9.93613564e-01 2.07069755e-04 3.80095616e+00] [-2.45440959e-03 7.03266361e-05 9.99996985e-01 -2.91260016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters 0.05630242890530185 Centerline is valid? [True, True] Translation: X:41.19, Y:3.82, Z:-0.29 [[ 9.93575652e-01 -1.13136574e-01 2.74584010e-03 4.11867707e+01] [ 1.13136365e-01 9.93579443e-01 2.31869130e-04 3.82305651e+00] [-2.75444316e-03 8.02748464e-05 9.99996203e-01 -2.91073623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58439141799999 meters 0.056679853279680836 Centerline is valid? [True, True] Translation: X:41.25, Y:3.83, Z:-0.29 [[ 9.93730818e-01 -1.11751268e-01 3.27356433e-03 4.12470120e+01] [ 1.11750964e-01 9.93736205e-01 2.76036453e-04 3.83140813e+00] [-3.28390681e-03 9.15180400e-05 9.99994604e-01 -2.91639744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64439141799999 meters 0.05724368553534648 Centerline is valid? [True, True] Translation: X:41.31, Y:3.84, Z:-0.29 [[ 9.93773393e-01 -1.11363778e-01 3.54295858e-03 4.13078084e+01] [ 1.11363419e-01 9.93779704e-01 2.98900982e-04 3.84206610e+00] [-3.55420707e-03 9.75161385e-05 9.99993679e-01 -2.91428844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters 0.05732839187979455 Centerline is valid? [True, True] Translation: X:41.37, Y:3.85, Z:-0.29 [[ 9.93651088e-01 -1.12440283e-01 3.83368586e-03 4.13697539e+01] [ 1.12439874e-01 9.93658478e-01 3.22834600e-04 3.84657374e+00] [-3.84567407e-03 1.10274203e-04 9.99992599e-01 -2.92123321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76439141799999 meters 0.0576740928121873 Centerline is valid? [True, True] Translation: X:41.43, Y:3.86, Z:-0.29 [[ 9.93513637e-01 -1.13656171e-01 3.59559259e-03 4.14310725e+01] [ 1.13655818e-01 9.93520137e-01 3.02810111e-04 3.85526228e+00] [-3.60670988e-03 1.07814043e-04 9.99993490e-01 -2.92880955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82439141799999 meters 0.05533208660016052 Centerline is valid? [True, True] Translation: X:41.49, Y:3.88, Z:-0.29 [[ 9.93168160e-01 -1.16659837e-01 2.73668234e-03 4.14905627e+01] [ 1.16659645e-01 9.93171926e-01 2.30074747e-04 3.87766845e+00] [-2.74483656e-03 9.07574778e-05 9.99996229e-01 -2.92731660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters 0.05554374042359356 Centerline is valid? [True, True] Translation: X:41.55, Y:3.88, Z:-0.29 [[ 9.92925642e-01 -1.18703798e-01 2.84203162e-03 4.15517003e+01] [ 1.18703600e-01 9.92929705e-01 2.38904717e-04 3.88445864e+00] [-2.85029652e-03 1.00144764e-04 9.99995933e-01 -2.94009361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94439141799999 meters 0.05595720445615345 Centerline is valid? [True, True] Translation: X:41.61, Y:3.89, Z:-0.29 [[ 9.92709020e-01 -1.20515535e-01 2.19273914e-03 4.16114318e+01] [ 1.20515421e-01 9.92711438e-01 1.84239972e-04 3.89216301e+00] [-2.19896101e-03 8.13622004e-05 9.99997579e-01 -2.94852460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00439141799999 meters 0.0550562940739945 Centerline is valid? [True, True] Translation: X:41.67, Y:3.91, Z:-0.29 [[ 9.92644664e-01 -1.21041772e-01 2.33667629e-03 4.16725358e+01] [ 1.21041645e-01 9.92647411e-01 1.96436173e-04 3.90558518e+00] [-2.34327265e-03 8.78438228e-05 9.99997251e-01 -2.94538939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters 0.05489506210741167 Centerline is valid? [True, True] Translation: X:41.73, Y:3.92, Z:-0.30 [[ 9.92876775e-01 -1.19138689e-01 1.29710905e-03 4.17319890e+01] [ 1.19138648e-01 9.92877621e-01 1.08941950e-04 3.91620555e+00] [-1.30084975e-03 4.63698864e-05 9.99999153e-01 -2.95117898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12439141799999 meters 0.056293654820230285 Centerline is valid? [True, True] Translation: X:41.79, Y:3.92, Z:-0.30 [[ 9.93214453e-01 -1.16257472e-01 3.04139257e-03 4.17919951e+01] [ 1.16257235e-01 9.93219105e-01 2.55320550e-04 3.92007112e+00] [-3.05045213e-03 9.99958299e-05 9.99995342e-01 -2.95223171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18439141799999 meters 0.05606964829885404 Centerline is valid? [True, True] Translation: X:41.85, Y:3.94, Z:-0.29 [[ 9.93380516e-01 -1.14808309e-01 3.76870127e-03 4.18524980e+01] [ 1.14807934e-01 9.93387658e-01 3.16430022e-04 3.93636329e+00] [-3.78011012e-03 1.18341387e-04 9.99992848e-01 -2.93601829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters 0.05517229914485299 Centerline is valid? [True, True] Translation: X:41.91, Y:3.95, Z:-0.29 [[ 9.93588973e-01 -1.12962574e-01 4.51767673e-03 4.19131750e+01] [ 1.12962016e-01 9.93599235e-01 3.79194829e-04 3.95154166e+00] [-4.53159497e-03 1.33562072e-04 9.99989723e-01 -2.93522685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30439141799999 meters 0.05474677510047999 Centerline is valid? [True, True] Translation: X:41.97, Y:3.96, Z:-0.29 [[ 9.93768242e-01 -1.11427556e-01 2.92922627e-03 4.19731568e+01] [ 1.11427315e-01 9.93772556e-01 2.45792337e-04 3.96256251e+00] [-2.93837271e-03 8.21352004e-05 9.99995680e-01 -2.94604408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36439141799999 meters 0.05544448634272232 Centerline is valid? [True, True] Translation: X:42.03, Y:3.97, Z:-0.30 [[ 9.93868437e-01 -1.10540149e-01 2.53100548e-03 4.20338547e+01] [ 1.10539966e-01 9.93871657e-01 2.12664703e-04 3.96842538e+00] [-2.53900260e-03 6.84165234e-05 9.99996774e-01 -2.96032326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42439141799999 meters 0.05447611950102006 Centerline is valid? [True, True] Translation: X:42.09, Y:3.99, Z:-0.30 [[ 9.94165976e-01 -1.07823044e-01 2.86409646e-03 4.20941795e+01] [ 1.07822799e-01 9.94170099e-01 2.40051320e-04 3.98716249e+00] [-2.87328213e-03 7.01640427e-05 9.99995870e-01 -2.95805935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48439141799999 meters 0.054476355909729136 Centerline is valid? [True, True] Translation: X:42.15, Y:4.00, Z:-0.30 [[ 9.94637154e-01 -1.03378359e-01 3.13811024e-03 4.21536549e+01] [ 1.03378044e-01 9.94642102e-01 2.62759997e-04 3.99967114e+00] [-3.14846026e-03 6.30608439e-05 9.99995042e-01 -2.95091171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54439141799999 meters 0.05474151841608653 Centerline is valid? [True, True] Translation: X:42.21, Y:4.01, Z:-0.29 [[ 9.95434752e-01 -9.53702775e-02 3.76352546e-03 4.22126486e+01] [ 9.53697676e-02 9.95441866e-01 3.15113163e-04 4.01129625e+00] [-3.77642324e-03 4.52519553e-05 9.99992868e-01 -2.94367251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60439141799999 meters 0.05522320303427035 Centerline is valid? [True, True] Translation: X:42.27, Y:4.02, Z:-0.30 [[ 9.95778439e-01 -9.16673529e-02 4.73244861e-03 4.22735731e+01] [ 9.16665046e-02 9.95789684e-01 3.96314290e-04 4.02227874e+00] [-4.74885259e-03 3.91657969e-05 9.99988723e-01 -2.95281629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66439141799999 meters 0.05455689697573194 Centerline is valid? [True, True] Translation: X:42.34, Y:4.03, Z:-0.30 [[ 9.96082653e-01 -8.82766381e-02 5.15590139e-03 4.23350277e+01] [ 8.82755862e-02 9.96095997e-01 4.31682233e-04 4.03065118e+00] [-5.17388019e-03 2.51490331e-05 9.99986615e-01 -2.96959935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72439141799999 meters 0.05378189787657371 Centerline is valid? [True, True] Translation: X:42.40, Y:4.04, Z:-0.30 [[ 9.95970410e-01 -8.95834467e-02 4.21284393e-03 4.23972290e+01] [ 8.95827565e-02 9.95979320e-01 3.52632082e-04 4.03883094e+00] [-4.22749543e-03 2.61870531e-05 9.99991064e-01 -2.96644184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78439141799999 meters 0.053685419453995506 Centerline is valid? [True, True] Translation: X:42.46, Y:4.04, Z:-0.30 [[ 9.95649974e-01 -9.31100986e-02 3.41167306e-03 4.24594241e+01] [ 9.31096681e-02 9.95655818e-01 2.85149141e-04 4.04063438e+00] [-3.42340240e-03 3.37510120e-05 9.99994140e-01 -2.97918055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters 0.05504050703451225 Centerline is valid? [True, True] Translation: X:42.52, Y:4.04, Z:-0.30 [[ 9.95151533e-01 -9.83379281e-02 1.75421732e-03 4.25205033e+01] [ 9.83378226e-02 9.95153079e-01 1.46533505e-04 4.03887844e+00] [-1.76012457e-03 2.66828698e-05 9.99998451e-01 -3.01071210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90439141799999 meters 0.05460072051089584 Centerline is valid? [True, True] Translation: X:42.58, Y:4.04, Z:-0.30 [[ 9.94842305e-01 -1.01416068e-01 1.88944421e-03 4.25822659e+01] [ 1.01415951e-01 9.94844098e-01 1.57943070e-04 4.04437525e+00] [-1.89572039e-03 3.44913333e-05 9.99998203e-01 -3.00634413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96439141799999 meters 0.054047973164618984 Centerline is valid? [True, True] Translation: X:42.64, Y:4.05, Z:-0.30 [[ 9.94737944e-01 -1.02421791e-01 2.48970397e-03 4.26434189e+01] [ 1.02421591e-01 9.94741059e-01 2.08170437e-04 4.04702335e+00] [-2.49793196e-03 4.79244104e-05 9.99996879e-01 -3.00328022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters 0.054560198914298814 Centerline is valid? [True, True] Translation: X:42.70, Y:4.05, Z:-0.30 [[ 9.94902039e-01 -1.00781904e-01 3.59743037e-03 4.27042062e+01] [ 1.00781478e-01 9.94908540e-01 3.00133541e-04 4.05232849e+00] [-3.60936223e-03 6.39508773e-05 9.99993484e-01 -2.99448882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08439141799999 meters 0.05412769794994379 Centerline is valid? [True, True] Translation: X:42.77, Y:4.06, Z:-0.30 [[ 9.95202971e-01 -9.77774817e-02 3.25743311e-03 4.27651936e+01] [ 9.77771174e-02 9.95208301e-01 2.71260702e-04 4.06210233e+00] [-3.26834766e-03 4.85429634e-05 9.99994658e-01 -2.99993497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14439141799999 meters 0.0548053407690816 Centerline is valid? [True, True] Translation: X:42.83, Y:4.06, Z:-0.30 [[ 9.95531563e-01 -9.43796897e-02 3.06304203e-03 4.28271645e+01] [ 9.43793516e-02 9.95536274e-01 2.55075447e-04 4.06341491e+00] [-3.07344339e-03 3.51522625e-05 9.99995276e-01 -3.02383117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters 0.05431433460034983 Centerline is valid? [True, True] Translation: X:42.89, Y:4.07, Z:-0.30 [[ 9.95846497e-01 -9.10053352e-02 2.79000305e-03 4.28893149e+01] [ 9.10050415e-02 9.95850405e-01 2.32295220e-04 4.07331171e+00] [-2.79956577e-03 2.25739625e-05 9.99996081e-01 -3.01894010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26439141799999 meters 0.054925025963857864 Centerline is valid? [True, True] Translation: X:42.95, Y:4.08, Z:-0.30 [[ 9.96340096e-01 -8.54503436e-02 2.15703237e-03 4.29509366e+01] [ 8.54501551e-02 9.96342430e-01 1.79571602e-04 4.08030356e+00] [-2.16448733e-03 5.40436326e-06 9.99997657e-01 -3.03258340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32439141799999 meters 0.0548151067078177 Centerline is valid? [True, True] Translation: X:43.01, Y:4.09, Z:-0.30 [[ 9.96809218e-01 -7.98096480e-02 1.34243967e-03 4.30135144e+01] [ 7.98095693e-02 9.96810122e-01 1.12202424e-04 4.09001023e+00] [-1.34711229e-03 -4.70487911e-06 9.99999093e-01 -3.03089872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters 0.05452158630256884 Centerline is valid? [True, True] Translation: X:43.07, Y:4.10, Z:-0.30 [[ 9.97124147e-01 -7.57635887e-02 1.82065487e-03 4.30747956e+01] [ 7.57634382e-02 9.97125809e-01 1.51567035e-04 4.09545092e+00] [-1.82690522e-03 -1.31920776e-05 9.99998331e-01 -3.03454358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44439141799999 meters 0.0559714442579052 Centerline is valid? [True, True] Translation: X:43.13, Y:4.10, Z:-0.31 [[ 9.97525290e-01 -7.02587748e-02 2.64572955e-03 4.31341103e+01] [ 7.02584401e-02 9.97528798e-01 2.19352151e-04 4.10200830e+00] [-2.65460283e-03 -3.29244876e-05 9.99996476e-01 -3.05258936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50439141799999 meters 0.05575033618484742 Centerline is valid? [True, True] Translation: X:43.20, Y:4.10, Z:-0.30 [[ 9.97717093e-01 -6.74555540e-02 3.21717039e-03 4.31958016e+01] [ 6.74550437e-02 9.97722279e-01 2.66996861e-04 4.10398027e+00] [-3.22785299e-03 -4.93729630e-05 9.99994789e-01 -3.03141565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters 0.05545940091662195 Centerline is valid? [True, True] Translation: X:43.26, Y:4.11, Z:-0.30 [[ 9.97797734e-01 -6.62253691e-02 3.72594923e-03 4.32571529e+01] [ 6.62246783e-02 9.97804689e-01 3.08629731e-04 4.11318670e+00] [-3.73820873e-03 -6.12002569e-05 9.99993011e-01 -3.02709207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62439141799999 meters 0.05538054143691823 Centerline is valid? [True, True] Translation: X:43.32, Y:4.11, Z:-0.30 [[ 9.97558057e-01 -6.97082397e-02 4.32242508e-03 4.33189686e+01] [ 6.97073434e-02 9.97567420e-01 3.57849357e-04 4.11214129e+00] [-4.33685548e-03 -5.56707401e-05 9.99990594e-01 -3.04262257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68439141799999 meters 0.055477841620389476 Centerline is valid? [True, True] Translation: X:43.38, Y:4.12, Z:-0.31 [[ 9.97324326e-01 -7.29773924e-02 4.29977911e-03 4.33804993e+01] [ 7.29765364e-02 9.97333594e-01 3.55848671e-04 4.11545505e+00] [-4.31428306e-03 -4.11135501e-05 9.99990693e-01 -3.05143108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters 0.055284474427792704 Centerline is valid? [True, True] Translation: X:43.44, Y:4.11, Z:-0.30 [[ 9.97034317e-01 -7.68535602e-02 4.01255475e-03 4.34430058e+01] [ 7.68528465e-02 9.97042391e-01 3.31981801e-04 4.11448976e+00] [-4.02620117e-03 -2.26209944e-05 9.99991895e-01 -3.04212145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80439141799999 meters 0.05493902948921931 Centerline is valid? [True, True] Translation: X:43.50, Y:4.11, Z:-0.30 [[ 9.96963909e-01 -7.77411285e-02 4.39100672e-03 4.35044107e+01] [ 7.77402828e-02 9.96973579e-01 3.63200232e-04 4.11449058e+00] [-4.40595328e-03 -2.07394196e-05 9.99990294e-01 -3.04525779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86439141799999 meters 0.05508601527806505 Centerline is valid? [True, True] Translation: X:43.57, Y:4.11, Z:-0.30 [[ 9.96981029e-01 -7.74344988e-02 5.72067628e-03 4.35674863e+01] [ 7.74330629e-02 9.96997441e-01 4.72407864e-04 4.11476124e+00] [-5.74008028e-03 -2.80121928e-05 9.99983525e-01 -3.04723759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92439141799999 meters 0.055184294414699776 Centerline is valid? [True, True] Translation: X:43.63, Y:4.12, Z:-0.30 [[ 9.97048409e-01 -7.65632482e-02 5.70423988e-03 4.36308251e+01] [ 7.65618079e-02 9.97064726e-01 4.70764844e-04 4.11992101e+00] [-5.72353966e-03 -3.26484206e-05 9.99983620e-01 -3.04377093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98439141799999 meters 0.055199331149409565 Centerline is valid? [True, True] Translation: X:43.69, Y:4.12, Z:-0.30 [[ 9.97336136e-01 -7.27161870e-02 5.74344463e-03 4.36926375e+01] [ 7.27146671e-02 9.97352672e-01 4.73280268e-04 4.12352735e+00] [-5.76265499e-03 -5.43868497e-05 9.99983394e-01 -3.04237471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04439141799999 meters 0.05572490080034679 Centerline is valid? [True, True] Translation: X:43.75, Y:4.12, Z:-0.31 [[ 9.97691126e-01 -6.75771880e-02 6.76314897e-03 4.37543691e+01] [ 6.75749677e-02 9.97714044e-01 5.56528585e-04 4.12246246e+00] [-6.78529735e-03 -9.82240580e-05 9.99976975e-01 -3.06050788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10439141799999 meters 0.056007781346352224 Centerline is valid? [True, True] Translation: X:43.82, Y:4.12, Z:-0.31 [[ 9.97896735e-01 -6.45131772e-02 6.33692683e-03 4.38158197e+01] [ 6.45111669e-02 9.97916849e-01 5.21337624e-04 4.12308510e+00] [-6.35735920e-03 -1.11438568e-04 9.99979786e-01 -3.06196300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16439141799999 meters 0.056381005152784866 Centerline is valid? [True, True] Translation: X:43.88, Y:4.12, Z:-0.31 [[ 9.98026886e-01 -6.25473449e-02 5.49215344e-03 4.38778795e+01] [ 6.25458065e-02 9.98041992e-01 4.51582764e-04 4.12480270e+00] [-5.50964506e-03 -1.07180574e-04 9.99984816e-01 -3.06056985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22439141799999 meters 0.05624515870126912 Centerline is valid? [True, True] Translation: X:43.94, Y:4.12, Z:-0.31 [[ 9.97901271e-01 -6.46631254e-02 3.42541060e-03 4.39390539e+01] [ 6.46625398e-02 9.97907148e-01 2.81553465e-04 4.12435776e+00] [-3.43644785e-03 -5.94668113e-05 9.99994094e-01 -3.08293380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28439141799999 meters 0.05638633167996509 Centerline is valid? [True, True] Translation: X:44.00, Y:4.12, Z:-0.31 [[ 9.97714477e-01 -6.74996852e-02 3.10083863e-03 4.40009160e+01] [ 6.74992191e-02 9.97719294e-01 2.54861418e-04 4.12287057e+00] [-3.11096960e-03 -4.49747403e-05 9.99995160e-01 -3.08536693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters 0.05634242821384457 Centerline is valid? [True, True] Translation: X:44.06, Y:4.12, Z:-0.31 [[ 9.97296126e-01 -7.33745212e-02 4.07646769e-03 4.40609606e+01] [ 7.33737652e-02 9.97304456e-01 3.34894734e-04 4.12378510e+00] [-4.09005213e-03 -3.48834374e-05 9.99991635e-01 -3.09280825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40439141799999 meters 0.0551598372805071 Centerline is valid? [True, True] Translation: X:44.12, Y:4.12, Z:-0.31 [[ 9.96957258e-01 -7.77702325e-02 5.29302657e-03 4.41238973e+01] [ 7.77690201e-02 9.96971309e-01 4.34802307e-04 4.12264998e+00] [-5.31081030e-03 -2.18458264e-05 9.99985897e-01 -3.08841521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46439141799999 meters 0.05561886352488175 Centerline is valid? [True, True] Translation: X:44.19, Y:4.12, Z:-0.31 [[ 9.96625417e-01 -8.18540691e-02 6.13919631e-03 4.41862039e+01] [ 8.18525172e-02 9.96644325e-01 5.04043528e-04 4.12031785e+00] [-6.15985318e-03 1.66080700e-07 9.99981028e-01 -3.08457578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters 0.05563810884332171 Centerline is valid? [True, True] Translation: X:44.25, Y:4.12, Z:-0.31 [[ 9.96523515e-01 -8.30682288e-02 6.36811843e-03 4.42479219e+01] [ 8.30665857e-02 9.96543862e-01 5.22549004e-04 4.12196550e+00] [-6.38951656e-03 8.24548501e-06 9.99979587e-01 -3.08783819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58439141799999 meters 0.05570390976546939 Centerline is valid? [True, True] Translation: X:44.31, Y:4.12, Z:-0.31 [[ 9.96515130e-01 -8.31078871e-02 7.11859713e-03 4.43114814e+01] [ 8.31058410e-02 9.96540556e-01 5.83277472e-04 4.12081297e+00] [-7.14244570e-03 1.03521748e-05 9.99974492e-01 -3.08673762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64439141799999 meters 0.055931064581675564 Centerline is valid? [True, True] Translation: X:44.37, Y:4.12, Z:-0.31 [[ 9.96761083e-01 -8.01071695e-02 7.08415182e-03 4.43734283e+01] [ 8.01050704e-02 9.96786257e-01 5.80015059e-04 4.12238619e+00] [-7.10784854e-03 -1.06599574e-05 9.99974739e-01 -3.09655406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters 0.056242292739106324 Centerline is valid? [True, True] Translation: X:44.44, Y:4.13, Z:-0.31 [[ 9.97023393e-01 -7.68481321e-02 6.22246128e-03 4.44352369e+01] [ 7.68464529e-02 9.97042809e-01 5.08842734e-04 4.12608285e+00] [-6.24316389e-03 -2.91540311e-05 9.99980511e-01 -3.10572446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76439141799999 meters 0.05621610674023916 Centerline is valid? [True, True] Translation: X:44.50, Y:4.13, Z:-0.31 [[ 9.97432206e-01 -7.14316170e-02 5.14954308e-03 4.44975389e+01] [ 7.14303973e-02 9.97445498e-01 4.20615496e-04 4.12805185e+00] [-5.16643381e-03 -5.17015339e-05 9.99986653e-01 -3.12376040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82439141799999 meters 0.05671395074362713 Centerline is valid? [True, True] Translation: X:44.56, Y:4.13, Z:-0.31 [[ 9.97722712e-01 -6.72268895e-02 5.47131639e-03 4.45589292e+01] [ 6.72254504e-02 9.97737711e-01 4.46715884e-04 4.13230276e+00] [-5.48897001e-03 -7.78868746e-05 9.99984932e-01 -3.12566830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters 0.05699859216697247 Centerline is valid? [True, True] Translation: X:44.62, Y:4.13, Z:-0.31 [[ 9.97991116e-01 -6.31230900e-02 5.40443371e-03 4.46205253e+01] [ 6.31216261e-02 9.98005744e-01 4.41177599e-04 4.13428935e+00] [-5.42150438e-03 -9.91546805e-05 9.99985299e-01 -3.12596659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94439141799999 meters 0.056348804494712815 Centerline is valid? [True, True] Translation: X:44.68, Y:4.13, Z:-0.31 [[ 9.98014035e-01 -6.27679745e-02 5.30733556e-03 4.46826079e+01] [ 6.27665578e-02 9.98028142e-01 4.33236194e-04 4.13285329e+00] [-5.32406360e-03 -9.92526180e-05 9.99985822e-01 -3.12856668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00439141799999 meters 0.057095176721499635 Centerline is valid? [True, True] Translation: X:44.74, Y:4.13, Z:-0.31 [[ 9.97916287e-01 -6.42944420e-02 5.41374936e-03 4.47447756e+01] [ 6.42929934e-02 9.97930968e-01 4.41368955e-04 4.13319819e+00] [-5.43092571e-03 -9.23831167e-05 9.99985248e-01 -3.13240276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters 0.057517717720510876 Centerline is valid? [True, True] Translation: X:44.81, Y:4.13, Z:-0.31 [[ 9.97596701e-01 -6.90204695e-02 6.08255610e-03 4.48059847e+01] [ 6.90187328e-02 9.97615241e-01 4.95221467e-04 4.12670673e+00] [-6.10223109e-03 -7.42209876e-05 9.99981378e-01 -3.12576577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12439141799999 meters 0.057042040572105414 Centerline is valid? [True, True] Translation: X:44.87, Y:4.12, Z:-0.31 [[ 9.97259209e-01 -7.37142050e-02 6.34712598e-03 4.48675018e+01] [ 7.37124089e-02 9.97279406e-01 5.16754578e-04 4.12464968e+00] [-6.36795018e-03 -4.74763157e-05 9.99979723e-01 -3.12495558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18439141799999 meters 0.05706035103243106 Centerline is valid? [True, True] Translation: X:44.93, Y:4.12, Z:-0.31 [[ 9.96599443e-01 -8.20821568e-02 7.21599281e-03 4.49304741e+01] [ 8.20800560e-02 9.96625566e-01 5.87304306e-04 4.12020562e+00] [-7.23985012e-03 6.98194956e-06 9.99973792e-01 -3.12681938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters 0.05723588023784031 Centerline is valid? [True, True] Translation: X:44.99, Y:4.12, Z:-0.31 [[ 9.96099209e-01 -8.79860271e-02 6.69508094e-03 4.49925642e+01] [ 8.79843539e-02 9.96121708e-01 5.44618508e-04 4.11610546e+00] [-6.71703428e-03 4.65683060e-05 9.99977439e-01 -3.14040894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30439141799999 meters 0.057559967714874725 Centerline is valid? [True, True] Translation: X:45.05, Y:4.12, Z:-0.31 [[ 9.95308639e-01 -9.65637704e-02 6.01263450e-03 4.50535791e+01] [ 9.65625806e-02 9.95326795e-01 4.88555719e-04 4.11765100e+00] [-6.03171301e-03 9.43317753e-05 9.99981805e-01 -3.14561502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36439141799999 meters 0.05869385750121498 Centerline is valid? [True, True] Translation: X:45.11, Y:4.11, Z:-0.31 [[ 9.94926483e-01 -1.00386132e-01 6.62707744e-03 4.51148129e+01] [ 1.00384772e-01 9.94948545e-01 5.38423570e-04 4.10797204e+00] [-6.64765132e-03 1.29565790e-04 9.99977896e-01 -3.14209036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42439141799999 meters 0.05707204032168299 Centerline is valid? [True, True] Translation: X:45.18, Y:4.12, Z:-0.31 [[ 9.94845149e-01 -1.01170405e-01 6.90498562e-03 4.51759774e+01] [ 1.01168948e-01 9.94869102e-01 5.60881802e-04 4.11988714e+00] [-6.92630148e-03 1.40579589e-04 9.99976003e-01 -3.14161652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48439141799999 meters 0.05784422148703106 Centerline is valid? [True, True] Translation: X:45.24, Y:4.12, Z:-0.31 [[ 9.94642756e-01 -1.03136850e-01 6.96975690e-03 4.52383297e+01] [ 1.03135415e-01 9.94667163e-01 5.65930706e-04 4.11641024e+00] [-6.99095663e-03 1.55929896e-04 9.99975551e-01 -3.14978138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54439141799999 meters 0.058480427881320046 Centerline is valid? [True, True] Translation: X:45.30, Y:4.12, Z:-0.32 [[ 9.94389838e-01 -1.05619495e-01 5.77692165e-03 4.52998887e+01] [ 1.05618552e-01 9.94406608e-01 4.68925080e-04 4.11967844e+00] [-5.79413669e-03 1.43855767e-04 9.99983204e-01 -3.16826061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60439141799999 meters 0.05804652497358353 Centerline is valid? [True, True] Translation: X:45.36, Y:4.12, Z:-0.32 [[ 9.94181461e-01 -1.07575895e-01 5.53611179e-03 4.53612202e+01] [ 1.07575060e-01 9.94196864e-01 4.49292431e-04 4.12347706e+00] [-5.55231802e-03 1.48869350e-04 9.99984575e-01 -3.17262370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66439141799999 meters 0.05913710081415963 Centerline is valid? [True, True] Translation: X:45.42, Y:4.12, Z:-0.32 [[ 9.93903510e-01 -1.10160915e-01 4.51508633e-03 4.54221554e+01] [ 1.10160387e-01 9.93913756e-01 3.66181694e-04 4.12305989e+00] [-4.52794532e-03 1.33434387e-04 9.99989740e-01 -3.18504302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72439141799999 meters 0.06002111459380441 Centerline is valid? [True, True] Translation: X:45.48, Y:4.13, Z:-0.32 [[ 9.93892558e-01 -1.10305028e-01 3.22252313e-03 4.54832123e+01] [ 1.10304759e-01 9.93897777e-01 2.61570760e-04 4.12511661e+00] [-3.23171115e-03 9.54864068e-05 9.99994773e-01 -3.19904952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78439141799999 meters 0.058838091301032465 Centerline is valid? [True, True] Translation: X:45.54, Y:4.14, Z:-0.32 [[ 9.94208019e-01 -1.07420520e-01 3.35370249e-03 4.55435389e+01] [ 1.07420214e-01 9.94213671e-01 2.71616621e-04 4.13756098e+00] [-3.36347406e-03 9.02120164e-05 9.99994339e-01 -3.20184459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84439141799999 meters 0.058898200771667075 Centerline is valid? [True, True] Translation: X:45.60, Y:4.14, Z:-0.32 [[ 9.94467792e-01 -1.04980363e-01 3.59630885e-03 4.56036954e+01] [ 1.04979996e-01 9.94474291e-01 2.91182498e-04 4.14279846e+00] [-3.60700514e-03 8.79688710e-05 9.99993491e-01 -3.20472260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90439141799999 meters 0.05699525339354606 Centerline is valid? [True, True] Translation: X:45.66, Y:4.16, Z:-0.32 [[ 9.95098046e-01 -9.87710076e-02 4.91596603e-03 4.56625777e+01] [ 9.87702464e-02 9.95110185e-01 3.97965799e-04 4.16240223e+00] [-4.93123535e-03 8.95361872e-05 9.99987837e-01 -3.18682723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96439141799999 meters 0.057564099273338 Centerline is valid? [True, True] Translation: X:45.72, Y:4.17, Z:-0.32 [[ 9.96174724e-01 -8.71677685e-02 6.13991482e-03 4.57228466e+01] [ 8.71663606e-02 9.96193645e-01 4.97051137e-04 4.17442159e+00] [-6.15987096e-03 4.00442493e-05 9.99981027e-01 -3.18235931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters 0.0571466187025465 Centerline is valid? [True, True] Translation: X:45.78, Y:4.19, Z:-0.32 [[ 9.97011094e-01 -7.70517209e-02 5.64892343e-03 4.57845391e+01] [ 7.70503660e-02 9.97027097e-01 4.57409424e-04 4.18907862e+00] [-5.66737391e-03 -2.07906521e-05 9.99983940e-01 -3.19231351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08439141799999 meters 0.05769996147418153 Centerline is valid? [True, True] Translation: X:45.85, Y:4.20, Z:-0.32 [[ 9.97279471e-01 -7.35661654e-02 4.65578221e-03 4.58459261e+01] [ 7.35652082e-02 9.97290338e-01 3.76737882e-04 4.19573880e+00] [-4.67088178e-03 -3.32093673e-05 9.99989091e-01 -3.19470809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14439141799999 meters 0.05706660374672719 Centerline is valid? [True, True] Translation: X:45.91, Y:4.20, Z:-0.32 [[ 9.97246181e-01 -7.40468172e-02 4.13792548e-03 4.59076730e+01] [ 7.40460661e-02 9.97254766e-01 3.34634041e-04 4.20262424e+00] [-4.15134449e-03 -2.73154161e-05 9.99991383e-01 -3.19774946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters 0.05718493388399667 Centerline is valid? [True, True] Translation: X:45.97, Y:4.21, Z:-0.32 [[ 9.97050168e-01 -7.66322017e-02 4.29751606e-03 4.59698498e+01] [ 7.66314163e-02 9.97059429e-01 3.47375149e-04 4.20697212e+00] [-4.31149903e-03 -1.70257082e-05 9.99990705e-01 -3.20327667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26439141799999 meters 0.05688979367617945 Centerline is valid? [True, True] Translation: X:46.03, Y:4.21, Z:-0.32 [[ 9.96841404e-01 -7.93193067e-02 3.95774408e-03 4.60322148e+01] [ 7.93186636e-02 9.96849260e-01 3.19439618e-04 4.21142731e+00] [-3.97061199e-03 -4.50766577e-06 9.99992117e-01 -3.22084863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32439141799999 meters 0.05703732434322871 Centerline is valid? [True, True] Translation: X:46.09, Y:4.22, Z:-0.32 [[ 9.96862692e-01 -7.90639241e-02 3.69715761e-03 4.60947300e+01] [ 7.90633609e-02 9.96869548e-01 2.98474876e-04 4.21717659e+00] [-3.70918243e-03 -5.22876221e-06 9.99993121e-01 -3.21593073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters 0.05737236877268745 Centerline is valid? [True, True] Translation: X:46.16, Y:4.22, Z:-0.32 [[ 9.97045569e-01 -7.66602061e-02 4.83187700e-03 4.61569104e+01] [ 7.66592203e-02 9.97057276e-01 3.89174598e-04 4.22372539e+00] [-4.84749233e-03 -1.76168848e-05 9.99988251e-01 -3.20991620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44439141799999 meters 0.056882687806541904 Centerline is valid? [True, True] Translation: X:46.22, Y:4.23, Z:-0.32 [[ 9.97216190e-01 -7.43955523e-02 5.01727925e-03 4.62180155e+01] [ 7.43944614e-02 9.97228811e-01 4.03971299e-04 4.23048197e+00] [-5.03342909e-03 -2.95889317e-05 9.99987332e-01 -3.21305511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50439141799999 meters 0.057562255985691715 Centerline is valid? [True, True] Translation: X:46.28, Y:4.23, Z:-0.32 [[ 9.97350054e-01 -7.25822533e-02 4.96857716e-03 4.62802110e+01] [ 7.25811636e-02 9.97362429e-01 3.99516018e-04 4.23443517e+00] [-4.98446996e-03 -3.78322110e-05 9.99987577e-01 -3.21902447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters 0.056964889595710305 Centerline is valid? [True, True] Translation: X:46.34, Y:4.24, Z:-0.32 [[ 9.97366764e-01 -7.24003840e-02 4.20990481e-03 4.63424498e+01] [ 7.23996000e-02 9.97375648e-01 3.38522339e-04 4.23912096e+00] [-4.22336568e-03 -3.28355057e-05 9.99991081e-01 -3.22874084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62439141799999 meters 0.05689950240608124 Centerline is valid? [True, True] Translation: X:46.40, Y:4.24, Z:-0.32 [[ 9.97334259e-01 -7.28183154e-02 4.67642803e-03 4.64045724e+01] [ 7.28173558e-02 9.97345222e-01 3.75367023e-04 4.24139747e+00] [-4.69134674e-03 -3.38412684e-05 9.99988995e-01 -3.23301483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68439141799999 meters 0.05749272162137156 Centerline is valid? [True, True] Translation: X:46.47, Y:4.25, Z:-0.32 [[ 9.97346729e-01 -7.26923128e-02 3.91520631e-03 4.64666003e+01] [ 7.26916390e-02 9.97354414e-01 3.14310373e-04 4.24577304e+00] [-3.92769624e-03 -2.88736593e-05 9.99992286e-01 -3.23875542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters 0.05764552938177378 Centerline is valid? [True, True] Translation: X:46.53, Y:4.25, Z:-0.32 [[ 9.97324654e-01 -7.29675101e-02 4.39055466e-03 4.65284469e+01] [ 7.29666683e-02 9.97334318e-01 3.51817685e-04 4.25164797e+00] [-4.40452210e-03 -3.05123055e-05 9.99990300e-01 -3.24310151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80439141799999 meters 0.05718878593955753 Centerline is valid? [True, True] Translation: X:46.59, Y:4.26, Z:-0.32 [[ 9.97312105e-01 -7.31318232e-02 4.50573555e-03 4.65913450e+01] [ 7.31309391e-02 9.97322283e-01 3.60883473e-04 4.25576393e+00] [-4.52006253e-03 -3.04047842e-05 9.99989784e-01 -3.24492962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86439141799999 meters 0.05723443554500641 Centerline is valid? [True, True] Translation: X:46.65, Y:4.26, Z:-0.33 [[ 9.97359865e-01 -7.25082101e-02 3.98245166e-03 4.66530595e+01] [ 7.25075166e-02 9.97367815e-01 3.18430609e-04 4.26027804e+00] [-3.99505795e-03 -2.88322292e-05 9.99992019e-01 -3.25270390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92439141799999 meters 0.05729228368871589 Centerline is valid? [True, True] Translation: X:46.72, Y:4.26, Z:-0.33 [[ 9.97395577e-01 -7.19755295e-02 4.64603509e-03 4.67158129e+01] [ 7.19745805e-02 9.97406398e-01 3.71349064e-04 4.26341590e+00] [-4.66071317e-03 -3.59854871e-05 9.99989138e-01 -3.25579755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98439141799999 meters 0.057237334190799315 Centerline is valid? [True, True] Translation: X:46.78, Y:4.27, Z:-0.33 [[ 9.97354011e-01 -7.25492753e-02 4.64532191e-03 4.67777304e+01] [ 7.25483344e-02 9.97364829e-01 3.70959326e-04 4.26660704e+00] [-4.65999352e-03 -3.29674040e-05 9.99989142e-01 -3.25702977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04439141799999 meters 0.057500307569342345 Centerline is valid? [True, True] Translation: X:46.84, Y:4.27, Z:-0.33 [[ 9.97283428e-01 -7.34849958e-02 5.07150360e-03 4.68398408e+01] [ 7.34838895e-02 9.97296322e-01 4.04376480e-04 4.26935680e+00] [-5.08750749e-03 -3.06041519e-05 9.99987058e-01 -3.26439924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10439141799999 meters 0.05705402355345723 Centerline is valid? [True, True] Translation: X:46.90, Y:4.27, Z:-0.33 [[ 9.97314408e-01 -7.31188987e-02 4.19512389e-03 4.69022181e+01] [ 7.31181384e-02 9.97323230e-01 3.34516489e-04 4.27234751e+00] [-4.20835398e-03 -2.68784655e-05 9.99991144e-01 -3.26524123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16439141799999 meters 0.057300766507170704 Centerline is valid? [True, True] Translation: X:46.96, Y:4.28, Z:-0.33 [[ 9.97307415e-01 -7.32138040e-02 4.20221012e-03 4.69647154e+01] [ 7.32130442e-02 9.97316268e-01 3.34552649e-04 4.27676731e+00] [-4.21542638e-03 -2.59952423e-05 9.99991115e-01 -3.27341845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22439141799999 meters 0.05738867254975383 Centerline is valid? [True, True] Translation: X:47.03, Y:4.28, Z:-0.33 [[ 9.97084789e-01 -7.61904490e-02 4.11580664e-03 4.70271057e+01] [ 7.61897475e-02 9.97093283e-01 3.27190817e-04 4.27850067e+00] [-4.12877197e-03 -1.26547174e-05 9.99991477e-01 -3.28430120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28439141799999 meters 0.05705521871080006 Centerline is valid? [True, True] Translation: X:47.09, Y:4.28, Z:-0.33 [[ 9.96819150e-01 -7.95456916e-02 4.90567591e-03 4.70898349e+01] [ 7.95447389e-02 9.96831221e-01 3.89319330e-04 4.28052274e+00] [-4.92109958e-03 2.13974577e-06 9.99987891e-01 -3.28548548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34439141799999 meters 0.0568700140758504 Centerline is valid? [True, True] Translation: X:47.15, Y:4.28, Z:-0.33 [[ 9.96274172e-01 -8.61398168e-02 4.20783529e-03 4.71507498e+01] [ 8.61391755e-02 9.96283058e-01 3.33722200e-04 4.28016780e+00] [-4.22094178e-03 2.99806541e-05 9.99991091e-01 -3.29304054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40439141799999 meters 0.057467636177719265 Centerline is valid? [True, True] Translation: X:47.21, Y:4.28, Z:-0.33 [[ 9.95883045e-01 -9.05384644e-02 4.44375689e-03 4.72130660e+01] [ 9.05377932e-02 9.95892958e-01 3.52380557e-04 4.28095924e+00] [-4.45741018e-03 5.13981199e-05 9.99990064e-01 -3.29799601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46439141799999 meters 0.057158413631448315 Centerline is valid? [True, True] Translation: X:47.27, Y:4.28, Z:-0.33 [[ 9.95400830e-01 -9.55289475e-02 7.16994597e-03 4.72749099e+01] [ 9.55273320e-02 9.95426645e-01 5.68234046e-04 4.27922326e+00] [-7.19143806e-03 1.19305169e-04 9.99974134e-01 -3.29214926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524391417999986 meters 0.05732939139074757 Centerline is valid? [True, True] Translation: X:47.34, Y:4.29, Z:-0.33 [[ 9.95384926e-01 -9.56735542e-02 7.44445795e-03 4.73370467e+01] [ 9.56718192e-02 9.95412756e-01 5.89659696e-04 4.28663743e+00] [-7.46672325e-03 1.25286462e-04 9.99972116e-01 -3.29677082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58439141799999 meters 0.05620713077417223 Centerline is valid? [True, True] Translation: X:47.40, Y:4.29, Z:-0.33 [[ 9.95628982e-01 -9.31430360e-02 6.87786984e-03 4.73990179e+01] [ 9.31414999e-02 9.95652733e-01 5.44002249e-04 4.29293177e+00] [-6.89863993e-03 9.89907085e-05 9.99976199e-01 -3.30760467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64439141799999 meters 0.05669391919358347 Centerline is valid? [True, True] Translation: X:47.46, Y:4.30, Z:-0.33 [[ 9.95880062e-01 -9.04654798e-02 6.23693556e-03 4.74612260e+01] [ 9.04641681e-02 9.95899589e-01 4.92689357e-04 4.29972879e+00] [-6.25593294e-03 7.35596791e-05 9.99980429e-01 -3.32337148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters 0.056973841311960975 Centerline is valid? [True, True] Translation: X:47.52, Y:4.31, Z:-0.33 [[ 9.96446457e-01 -8.39497849e-02 6.84769937e-03 4.75220783e+01] [ 8.39480526e-02 9.96469986e-01 5.40525245e-04 4.31086169e+00] [-6.86890387e-03 3.62465613e-05 9.99976408e-01 -3.32009293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76439141799999 meters 0.05745692388062169 Centerline is valid? [True, True] Translation: X:47.58, Y:4.32, Z:-0.33 [[ 9.96780965e-01 -7.98350180e-02 7.35374677e-03 4.75839846e+01] [ 7.98329093e-02 9.96808091e-01 5.80323403e-04 4.32059374e+00] [-7.37660441e-03 8.61567802e-06 9.99972792e-01 -3.32759018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82439141799999 meters 0.05678846784611346 Centerline is valid? [True, True] Translation: X:47.65, Y:4.33, Z:-0.33 [[ 9.97067215e-01 -7.63171892e-02 5.71441906e-03 4.76456438e+01] [ 7.63158588e-02 9.97083591e-01 4.50825783e-04 4.32795023e+00] [-5.73215924e-03 -1.34028096e-05 9.99983571e-01 -3.34425021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters 0.05652144298381136 Centerline is valid? [True, True] Translation: X:47.71, Y:4.33, Z:-0.34 [[ 9.97167172e-01 -7.50969940e-02 4.25116011e-03 4.77066870e+01] [ 7.50962474e-02 9.97176234e-01 3.35187226e-04 4.33410314e+00] [-4.26432739e-03 -1.49915263e-05 9.99990908e-01 -3.35923129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94439141799999 meters 0.05707971605010777 Centerline is valid? [True, True] Translation: X:47.77, Y:4.34, Z:-0.34 [[ 9.97069759e-01 -7.64146268e-02 3.56375703e-03 4.77697187e+01] [ 7.64141113e-02 9.97076128e-01 2.80794950e-04 4.33953777e+00] [-3.57479391e-03 -7.65082617e-06 9.99993610e-01 -3.36169579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00439141799999 meters 0.05646120984878889 Centerline is valid? [True, True] Translation: X:47.83, Y:4.34, Z:-0.34 [[ 9.96781786e-01 -8.00991672e-02 3.19295014e-03 4.78325409e+01] [ 8.00987732e-02 9.96786900e-01 2.51286895e-04 4.34334107e+00] [-3.20281874e-03 5.27318911e-06 9.99994871e-01 -3.37140322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters 0.05665183985340096 Centerline is valid? [True, True] Translation: X:47.90, Y:4.35, Z:-0.34 [[ 9.96486864e-01 -8.36338541e-02 4.39411908e-03 4.78951797e+01] [ 8.36331462e-02 9.96496552e-01 3.44933518e-04 4.34557653e+00] [-4.40757264e-03 2.37722845e-05 9.99990286e-01 -3.36693197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12439141799999 meters 0.056224801815353005 Centerline is valid? [True, True] Translation: X:47.96, Y:4.35, Z:-0.34 [[ 9.96156504e-01 -8.74368606e-02 5.19763752e-03 4.79571973e+01] [ 8.74359230e-02 9.96170062e-01 4.07791961e-04 4.35033198e+00] [-5.21338694e-03 4.82356199e-05 9.99986409e-01 -3.35693183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18439141799999 meters 0.05667225232198279 Centerline is valid? [True, True] Translation: X:48.02, Y:4.35, Z:-0.34 [[ 9.96026802e-01 -8.89095198e-02 5.07023580e-03 4.80197022e+01] [ 8.89086482e-02 9.96039705e-01 3.97494164e-04 4.35335634e+00] [-5.08549718e-03 5.48729695e-05 9.99987067e-01 -3.36731901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters 0.05681998105961755 Centerline is valid? [True, True] Translation: X:48.08, Y:4.36, Z:-0.34 [[ 9.95921195e-01 -9.00828151e-02 5.10480232e-03 4.80803790e+01] [ 9.00819480e-02 9.95934276e-01 4.00006158e-04 4.35557384e+00] [-5.12008129e-03 6.14759256e-05 9.99986890e-01 -3.37404647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30439141799999 meters 0.05593633522738633 Centerline is valid? [True, True] Translation: X:48.14, Y:4.37, Z:-0.34 [[ 9.95857392e-01 -9.07904992e-02 5.01390832e-03 4.81411861e+01] [ 9.07896729e-02 9.95870012e-01 3.92644782e-04 4.36945175e+00] [-5.02884936e-03 6.41928883e-05 9.99987353e-01 -3.37607701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36439141799999 meters 0.056719058680479384 Centerline is valid? [True, True] Translation: X:48.20, Y:4.37, Z:-0.34 [[ 9.95923037e-01 -9.01050609e-02 4.28755128e-03 4.82038629e+01] [ 9.01044522e-02 9.95932264e-01 3.35302212e-04 4.37035741e+00] [-4.30032308e-03 5.23922621e-05 9.99990752e-01 -3.38570570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters 0.055698843213352764 Centerline is valid? [True, True] Translation: X:48.27, Y:4.38, Z:-0.34 [[ 9.96099284e-01 -8.81904728e-02 2.94212712e-03 4.82659706e+01] [ 8.81901781e-02 9.96103629e-01 2.30017229e-04 4.37710825e+00] [-2.95094883e-03 3.03467182e-05 9.99995645e-01 -3.40753236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48439141799999 meters 0.056006654792664236 Centerline is valid? [True, True] Translation: X:48.33, Y:4.38, Z:-0.34 [[ 9.96339414e-01 -8.54529590e-02 2.35877855e-03 4.83277217e+01] [ 8.54527620e-02 9.96342206e-01 1.84373739e-04 4.38484622e+00] [-2.36590591e-03 1.78653195e-05 9.99997201e-01 -3.42192080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54439141799999 meters 0.05592908716485806 Centerline is valid? [True, True] Translation: X:48.39, Y:4.39, Z:-0.34 [[ 9.96892155e-01 -7.87414575e-02 2.41127461e-03 4.83879873e+01] [ 7.87412315e-02 9.96895071e-01 1.88661407e-04 4.39480928e+00] [-2.41864325e-03 1.79165598e-06 9.99997075e-01 -3.41890160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60439141799999 meters 0.05678135219332055 Centerline is valid? [True, True] Translation: X:48.45, Y:4.40, Z:-0.34 [[ 9.97212568e-01 -7.45664760e-02 2.63354780e-03 4.84505323e+01] [ 7.45661927e-02 9.97216045e-01 2.05752996e-04 4.40169393e+00] [-2.64155839e-03 -8.80584072e-06 9.99996511e-01 -3.40819315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66439141799999 meters 0.0563199393521706 Centerline is valid? [True, True] Translation: X:48.51, Y:4.41, Z:-0.34 [[ 9.97502700e-01 -7.05932469e-02 2.22622669e-03 4.85109540e+01] [ 7.05930357e-02 9.97505185e-01 1.73423113e-04 4.40890299e+00] [-2.23291517e-03 -1.58339236e-05 9.99997507e-01 -3.40775193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72439141799999 meters 0.05564558578336524 Centerline is valid? [True, True] Translation: X:48.57, Y:4.41, Z:-0.34 [[ 9.97505329e-01 -7.05601968e-02 2.09212433e-03 4.85731423e+01] [ 7.05600096e-02 9.97507523e-01 1.63248618e-04 4.41430480e+00] [-2.09842861e-03 -1.52210540e-05 9.99997798e-01 -3.40777784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78439141799999 meters 0.05644093591477702 Centerline is valid? [True, True] Translation: X:48.64, Y:4.42, Z:-0.34 [[ 9.97195037e-01 -7.48218650e-02 1.93569682e-03 4.86352784e+01] [ 7.48217136e-02 9.97196916e-01 1.50584207e-04 4.41554562e+00] [-1.94153789e-03 -5.32967052e-06 9.99998115e-01 -3.42836452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84439141799999 meters 0.05636952325394903 Centerline is valid? [True, True] Translation: X:48.70, Y:4.42, Z:-0.34 [[ 9.96740811e-01 -8.06481733e-02 1.90443949e-03 4.86974460e+01] [ 8.06480369e-02 9.96742631e-01 1.48427695e-04 4.41548839e+00] [-1.91020645e-03 5.64536525e-06 9.99998176e-01 -3.43624374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90439141799999 meters 0.05659989387497718 Centerline is valid? [True, True] Translation: X:48.76, Y:4.42, Z:-0.34 [[ 9.96544017e-01 -8.30467136e-02 1.80683363e-03 4.87595437e+01] [ 8.30465952e-02 9.96545655e-01 1.40588442e-04 4.41922200e+00] [-1.81226761e-03 9.94881040e-06 9.99998358e-01 -3.43361286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96439141799999 meters 0.0567314175100459 Centerline is valid? [True, True] Translation: X:48.82, Y:4.42, Z:-0.34 [[ 9.96538943e-01 -8.30875476e-02 2.56783842e-03 4.88214699e+01] [ 8.30873109e-02 9.96542252e-01 1.98927629e-04 4.42450119e+00] [-2.57548789e-03 1.51156601e-05 9.99996683e-01 -3.41768519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024391417999986 meters 0.05666742512145984 Centerline is valid? [True, True] Translation: X:48.88, Y:4.43, Z:-0.34 [[ 9.96691482e-01 -8.12302421e-02 2.78159797e-03 4.88828910e+01] [ 8.12299568e-02 9.96695364e-01 2.15569309e-04 4.42973212e+00] [-2.78991654e-03 1.10929889e-05 9.99996108e-01 -3.41638162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08439141799999 meters 0.05627723674600352 Centerline is valid? [True, True] Translation: X:48.95, Y:4.44, Z:-0.34 [[ 9.96910492e-01 -7.84496690e-02 3.88852793e-03 4.89450181e+01] [ 7.84490931e-02 9.96918076e-01 3.00646632e-04 4.43570293e+00] [-3.90012941e-03 5.33370729e-06 9.99992394e-01 -3.41280972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14439141799999 meters 0.05622544091824058 Centerline is valid? [True, True] Translation: X:49.01, Y:4.44, Z:-0.34 [[ 9.97001055e-01 -7.72865299e-02 3.96100539e-03 4.90064651e+01] [ 7.72859250e-02 9.97008923e-01 3.05771718e-04 4.44087940e+00] [-3.97278976e-03 1.27524013e-06 9.99992108e-01 -3.40664848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204391417999986 meters 0.05573248994753438 Centerline is valid? [True, True] Translation: X:49.07, Y:4.44, Z:-0.34 [[ 9.96876798e-01 -7.89081072e-02 3.18763457e-03 4.90683985e+01] [ 7.89077253e-02 9.96881894e-01 2.45586445e-04 4.44392126e+00] [-3.19707395e-03 6.70956367e-06 9.99994889e-01 -3.42077981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26439141799999 meters 0.056642701833839 Centerline is valid? [True, True] Translation: X:49.13, Y:4.45, Z:-0.34 [[ 9.96650666e-01 -8.17656583e-02 1.35137241e-03 4.91300474e+01] [ 8.17655917e-02 9.96651583e-01 1.04548945e-04 4.44654182e+00] [-1.35539597e-03 6.29698963e-06 9.99999081e-01 -3.42972606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32439141799999 meters 0.056561689482056275 Centerline is valid? [True, True] Translation: X:49.19, Y:4.45, Z:-0.34 [[ 9.96537916e-01 -8.31309322e-02 1.19627012e-03 4.91923869e+01] [ 8.31308811e-02 9.96538634e-01 9.25068693e-05 4.44881692e+00] [-1.19981958e-03 7.26038672e-06 9.99999280e-01 -3.43036667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters 0.057075574703531765 Centerline is valid? [True, True] Translation: X:49.26, Y:4.45, Z:-0.34 [[ 9.96512396e-01 -8.34211723e-02 1.98824081e-03 4.92556868e+01] [ 8.34210334e-02 9.96514379e-01 1.52811866e-04 4.45095386e+00] [-1.99405831e-03 1.35821845e-05 9.99998012e-01 -3.42321886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44439141799999 meters 0.05722759495999879 Centerline is valid? [True, True] Translation: X:49.32, Y:4.45, Z:-0.34 [[ 9.96543976e-01 -8.30376606e-02 2.20241245e-03 4.93180048e+01] [ 8.30374891e-02 9.96546410e-01 1.69360945e-04 4.45482599e+00] [-2.20886955e-03 1.41071699e-05 9.99997560e-01 -3.42651390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50439141799999 meters 0.056931131851697854 Centerline is valid? [True, True] Translation: X:49.38, Y:4.46, Z:-0.34 [[ 9.96652824e-01 -8.17415840e-02 1.20914235e-03 4.93808216e+01] [ 8.17415311e-02 9.96653557e-01 9.32097289e-05 4.45685813e+00] [-1.21271514e-03 5.93940758e-06 9.99999265e-01 -3.43574924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters 0.05721446297097379 Centerline is valid? [True, True] Translation: X:49.44, Y:4.46, Z:-0.34 [[ 9.96774342e-01 -8.02430575e-02 1.40081698e-03 4.94419537e+01] [ 8.02429856e-02 9.96775327e-01 1.07547949e-04 4.45911153e+00] [-1.40492978e-03 5.20469994e-06 9.99999013e-01 -3.43938387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62439141799999 meters 0.05746319606284737 Centerline is valid? [True, True] Translation: X:49.50, Y:4.46, Z:-0.34 [[ 9.96847884e-01 -7.93202422e-02 1.61118418e-03 4.95032437e+01] [ 7.93201464e-02 9.96849186e-01 1.23411998e-04 4.46305865e+00] [-1.61589671e-03 4.77637617e-06 9.99998694e-01 -3.44333571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68439141799999 meters 0.057053146775515956 Centerline is valid? [True, True] Translation: X:49.57, Y:4.47, Z:-0.34 [[ 9.97164805e-01 -7.52167928e-02 2.18781546e-03 4.95652766e+01] [ 7.52166079e-02 9.97167205e-01 1.66823319e-04 4.46775712e+00] [-2.19416575e-03 -1.79028457e-06 9.99997593e-01 -3.41494317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters 0.05740076972077083 Centerline is valid? [True, True] Translation: X:49.63, Y:4.47, Z:-0.34 [[ 9.97411956e-01 -7.18631145e-02 2.25442661e-03 4.96266773e+01] [ 7.18629092e-02 9.97414504e-01 1.72059150e-04 4.47067746e+00] [-2.26096251e-03 -9.60419792e-06 9.99997444e-01 -3.42132799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80439141799999 meters 0.05773257655828744 Centerline is valid? [True, True] Translation: X:49.69, Y:4.47, Z:-0.34 [[ 9.97770289e-01 -6.67404649e-02 4.01335284e-04 4.96884984e+01] [ 6.67404579e-02 9.97770370e-01 3.07852926e-05 4.47220598e+00] [-4.02495079e-04 -3.93134968e-06 9.99999919e-01 -3.43339440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86439141799999 meters 0.0580402299865625 Centerline is valid? [True, True] Translation: X:49.75, Y:4.47, Z:-0.34 [[ 9.97951076e-01 -6.39813673e-02 1.84902394e-04 4.97509672e+01] [ 6.39813657e-02 9.97951093e-01 1.42560300e-05 4.47416062e+00] [-1.85435667e-04 -2.39651279e-06 9.99999983e-01 -3.42874935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters 0.05834210447223032 Centerline is valid? [True, True] Translation: X:49.81, Y:4.48, Z:-0.34 [[ 9.97949904e-01 -6.39990656e-02 3.29743965e-04 4.98137292e+01] [ 6.39990606e-02 9.97949958e-01 2.54881220e-05 4.47583738e+00] [-3.30699192e-04 -4.33256496e-06 9.99999945e-01 -3.43463438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98439141799999 meters 0.058015067106578846 Centerline is valid? [True, True] Translation: X:49.88, Y:4.48, Z:-0.34 [[ 9.97775282e-01 -6.66664753e-02 2.60133530e-04 4.98757759e+01] [ 6.66664723e-02 9.97775316e-01 2.03051751e-05 4.47653430e+00] [-2.60908489e-04 -2.91781709e-06 9.99999966e-01 -3.43599339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04439141799999 meters 0.05816524437345816 Centerline is valid? [True, True] Translation: X:49.94, Y:4.48, Z:-0.34 [[ 9.97583982e-01 -6.94670690e-02 -7.24905030e-04 4.99379847e+01] [ 6.94670475e-02 9.97584245e-01 -5.47101984e-05 4.47883637e+00] [ 7.26954394e-04 4.22100545e-06 9.99999736e-01 -3.43172418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10439141799999 meters 0.05755067644354041 Centerline is valid? [True, True] Translation: X:50.00, Y:4.48, Z:-0.34 [[ 9.97236848e-01 -7.42869171e-02 -3.51389110e-04 5.00007475e+01] [ 7.42869126e-02 9.97236910e-01 -2.59578074e-05 4.47806764e+00] [ 3.52346516e-04 -2.17530044e-07 9.99999938e-01 -3.43408155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16439141799999 meters 0.05792421671728656 Centerline is valid? [True, True] Translation: X:50.06, Y:4.48, Z:-0.34 [[ 9.96975419e-01 -7.77154314e-02 5.70458054e-04 5.00619811e+01] [ 7.77154193e-02 9.96975582e-01 4.33434835e-05 4.47855525e+00] [-5.72101208e-04 1.12099927e-06 9.99999836e-01 -3.44879866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22439141799999 meters 0.05745624432051941 Centerline is valid? [True, True] Translation: X:50.12, Y:4.48, Z:-0.34 [[ 9.96603171e-01 -8.23300929e-02 1.96881980e-03 5.01229001e+01] [ 8.23299591e-02 9.96605115e-01 1.49023705e-04 4.48157435e+00] [-1.97440502e-03 1.35753568e-05 9.99998051e-01 -3.42198295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28439141799999 meters 0.05821389093907904 Centerline is valid? [True, True] Translation: X:50.18, Y:4.48, Z:-0.34 [[ 9.96436783e-01 -8.43245474e-02 1.76301098e-03 5.01845590e+01] [ 8.43244432e-02 9.96438343e-01 1.33448364e-04 4.48104487e+00] [-1.76798471e-03 1.56920605e-05 9.99998437e-01 -3.44907039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34439141799999 meters 0.05801891784263929 Centerline is valid? [True, True] Translation: X:50.25, Y:4.49, Z:-0.34 [[ 9.96397289e-01 -8.48030703e-02 9.39058881e-04 5.02467200e+01] [ 8.48030409e-02 9.96397731e-01 7.11379665e-05 4.48734619e+00] [-9.41708857e-04 8.75337169e-06 9.99999557e-01 -3.44637743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40439141799999 meters 0.05803164908206414 Centerline is valid? [True, True] Translation: X:50.31, Y:4.49, Z:-0.35 [[ 9.96546198e-01 -8.30365053e-02 7.84137368e-04 5.03088259e+01] [ 8.30364842e-02 9.96546506e-01 5.94469473e-05 4.49022347e+00] [-7.86365621e-04 5.87038092e-06 9.99999691e-01 -3.46312143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46439141799999 meters 0.05829894668270794 Centerline is valid? [True, True] Translation: X:50.37, Y:4.50, Z:-0.35 [[ 9.96963645e-01 -7.78630893e-02 9.10636002e-04 5.03707697e+01] [ 7.78630588e-02 9.96964061e-01 6.89319908e-05 4.49928623e+00] [-9.13238624e-04 2.18221568e-06 9.99999583e-01 -3.45388007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524391417999986 meters 0.05806846830281995 Centerline is valid? [True, True] Translation: X:50.43, Y:4.51, Z:-0.35 [[ 9.97209046e-01 -7.46587202e-02 4.41310793e-04 5.04326764e+01] [ 7.46587127e-02 9.97209143e-01 3.35292460e-05 4.50510840e+00] [-4.42582409e-04 -4.87971656e-07 9.99999902e-01 -3.45545518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58439141799999 meters 0.05779826516843183 Centerline is valid? [True, True] Translation: X:50.49, Y:4.51, Z:-0.35 [[ 9.97383551e-01 -7.22641408e-02 -1.98638895e-03 5.04940904e+01] [ 7.22639860e-02 9.97385529e-01 -1.49698661e-04 4.51024752e+00] [ 1.99201344e-03 5.76259898e-06 9.99998016e-01 -3.48506964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64439141799999 meters 0.0585346407371417 Centerline is valid? [True, True] Translation: X:50.56, Y:4.51, Z:-0.35 [[ 9.97473770e-01 -7.09920753e-02 -2.49078179e-03 5.05561320e+01] [ 7.09918283e-02 9.97476880e-01 -1.87575460e-04 4.51449534e+00] [ 2.49781362e-03 1.02764478e-05 9.99996880e-01 -3.47252997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704391417999986 meters 0.058841887104197466 Centerline is valid? [True, True] Translation: X:50.62, Y:4.52, Z:-0.35 [[ 9.97536067e-01 -7.01225463e-02 -2.15045631e-03 5.06187128e+01] [ 7.01223607e-02 9.97538384e-01 -1.61679062e-04 4.51951245e+00] [ 2.15650006e-03 1.04856224e-05 9.99997675e-01 -3.47742965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76439141799999 meters 0.05848811385736545 Centerline is valid? [True, True] Translation: X:50.68, Y:4.52, Z:-0.35 [[ 9.97531433e-01 -7.02076596e-02 -1.38709683e-03 5.06810409e+01] [ 7.02075826e-02 9.97532398e-01 -1.04184373e-04 4.52389941e+00] [ 1.39098856e-03 6.54247183e-06 9.99999033e-01 -3.46583996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82439141799999 meters 0.05813993745926167 Centerline is valid? [True, True] Translation: X:50.74, Y:4.53, Z:-0.34 [[ 9.97430428e-01 -7.16344604e-02 -1.02237144e-03 5.07427389e+01] [ 7.16344193e-02 9.97430952e-01 -7.67386540e-05 4.52606914e+00] [ 1.02524205e-03 3.30448392e-06 9.99999474e-01 -3.43854846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884391417999986 meters 0.05830043984906608 Centerline is valid? [True, True] Translation: X:50.80, Y:4.53, Z:-0.35 [[ 9.97137251e-01 -7.56055214e-02 -1.05220134e-03 5.08035813e+01] [ 7.56054807e-02 9.97137806e-01 -7.84851463e-05 4.52791689e+00] [ 1.05512365e-03 -1.29172529e-06 9.99999443e-01 -3.46470979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94439141799999 meters 0.058025515958392046 Centerline is valid? [True, True] Translation: X:50.87, Y:4.53, Z:-0.35 [[ 9.96831592e-01 -7.95315357e-02 -1.22969223e-03 5.08658783e+01] [ 7.95314824e-02 9.96832350e-01 -9.22150399e-05 4.52932014e+00] [ 1.23313100e-03 -5.87638076e-06 9.99999240e-01 -3.45880059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00439141799999 meters 0.05867310840263661 Centerline is valid? [True, True] Translation: X:50.93, Y:4.53, Z:-0.35 [[ 9.96292835e-01 -8.60262121e-02 -2.80530476e-04 5.09284968e+01] [ 8.60262096e-02 9.96292874e-01 -2.08430571e-05 4.52746710e+00] [ 2.81283563e-04 -3.36718512e-06 9.99999960e-01 -3.46152196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters 0.0589713069475159 Centerline is valid? [True, True] Translation: X:50.99, Y:4.53, Z:-0.35 [[ 9.95817434e-01 -9.13607602e-02 -9.21733454e-04 5.09897122e+01] [ 9.13607353e-02 9.95817860e-01 -6.91655906e-05 4.52617249e+00] [ 9.24197657e-04 -1.53339452e-05 9.99999573e-01 -3.47442585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12439141799999 meters 0.05870152522340612 Centerline is valid? [True, True] Translation: X:51.05, Y:4.53, Z:-0.35 [[ 9.95677756e-01 -9.28637747e-02 -1.45791269e-03 5.10510954e+01] [ 9.28637143e-02 9.95678823e-01 -1.09240917e-04 4.53138288e+00] [ 1.46175732e-03 -2.66184362e-05 9.99998931e-01 -3.47402011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18439141799999 meters 0.05897388045156175 Centerline is valid? [True, True] Translation: X:51.11, Y:4.53, Z:-0.35 [[ 9.95830139e-01 -9.12040744e-02 -2.03754589e-03 5.11120290e+01] [ 9.12039528e-02 9.95832223e-01 -1.52745040e-04 4.53159413e+00] [ 2.04298482e-03 -3.37241245e-05 9.99997913e-01 -3.49485541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters 0.058556525407334546 Centerline is valid? [True, True] Translation: X:51.17, Y:4.54, Z:-0.35 [[ 9.96117430e-01 -8.80239971e-02 -1.35724207e-03 5.11733094e+01] [ 8.80239403e-02 9.96118354e-01 -1.01672100e-04 4.54353068e+00] [ 1.36092333e-03 -1.81924444e-05 9.99999074e-01 -3.45964371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30439141799999 meters 0.05838374029275202 Centerline is valid? [True, True] Translation: X:51.23, Y:4.55, Z:-0.35 [[ 9.96630889e-01 -8.20135012e-02 -8.09844436e-04 5.12348292e+01] [ 8.20134791e-02 9.96631218e-01 -6.05212916e-05 4.54847288e+00] [ 8.12079810e-04 -6.10077109e-06 9.99999670e-01 -3.48884837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36439141799999 meters 0.058913407583920184 Centerline is valid? [True, True] Translation: X:51.30, Y:4.56, Z:-0.35 [[ 9.96811844e-01 -7.97601502e-02 -2.11349803e-03 5.12966750e+01] [ 7.97599940e-02 9.96814084e-01 -1.58215875e-04 4.55726847e+00] [ 2.11938393e-03 -1.08611323e-05 9.99997754e-01 -3.48057704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters 0.05822389478679906 Centerline is valid? [True, True] Translation: X:51.36, Y:4.56, Z:-0.35 [[ 9.96924085e-01 -7.83136091e-02 -3.05735474e-03 5.13599702e+01] [ 7.83132768e-02 9.96928773e-01 -2.28411629e-04 4.56225135e+00] [ 3.06585265e-03 -1.17224139e-05 9.99995300e-01 -3.50072404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48439141799999 meters 0.05893727576113932 Centerline is valid? [True, True] Translation: X:51.42, Y:4.57, Z:-0.35 [[ 9.96982471e-01 -7.75823197e-02 -2.63378291e-03 5.14222752e+01] [ 7.75820703e-02 9.96985950e-01 -1.96903531e-04 4.56710592e+00] [ 2.64112079e-03 -8.02496187e-06 9.99996512e-01 -3.50438650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54439141799999 meters 0.058432736045004596 Centerline is valid? [True, True] Translation: X:51.48, Y:4.57, Z:-0.35 [[ 9.96987089e-01 -7.75531305e-02 -1.50201915e-03 5.14832986e+01] [ 7.75530499e-02 9.96988221e-01 -1.11919892e-04 4.57290674e+00] [ 1.50617513e-03 -4.90347864e-06 9.99998866e-01 -3.47838813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60439141799999 meters 0.05896558793465932 Centerline is valid? [True, True] Translation: X:51.54, Y:4.58, Z:-0.35 [[ 9.96911600e-01 -7.85161464e-02 -1.57375434e-03 5.15439402e+01] [ 7.85160588e-02 9.96912842e-01 -1.17500912e-04 4.57732244e+00] [ 1.57812163e-03 -6.42696576e-06 9.99998755e-01 -3.47764473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66439141799999 meters 0.059179551770675264 Centerline is valid? [True, True] Translation: X:51.61, Y:4.58, Z:-0.35 [[ 9.96742189e-01 -8.06331229e-02 -1.81873762e-03 5.16059856e+01] [ 8.06330096e-02 9.96743848e-01 -1.35637887e-04 4.57952273e+00] [ 1.82375244e-03 -1.14542830e-05 9.99998337e-01 -3.50528520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72439141799999 meters 0.05947899185188649 Centerline is valid? [True, True] Translation: X:51.67, Y:4.58, Z:-0.35 [[ 9.96565629e-01 -8.28015235e-02 -9.24026912e-04 5.16677075e+01] [ 8.28014952e-02 9.96566058e-01 -6.88682724e-05 4.58064328e+00] [ 9.26556255e-04 -7.87905671e-06 9.99999571e-01 -3.51312369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78439141799999 meters 0.058389674235030394 Centerline is valid? [True, True] Translation: X:51.73, Y:4.59, Z:-0.35 [[ 9.96442071e-01 -8.42799322e-02 -3.03736230e-04 5.17295812e+01] [ 8.42799293e-02 9.96442117e-01 -2.24916878e-05 4.58825502e+00] [ 3.04551170e-04 -3.18720396e-06 9.99999954e-01 -3.48435748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84439141799999 meters 0.058306667654016604 Centerline is valid? [True, True] Translation: X:51.79, Y:4.59, Z:-0.35 [[ 9.96339883e-01 -8.54791689e-02 3.87297254e-04 5.17911299e+01] [ 8.54791639e-02 9.96339958e-01 2.94258623e-05 4.59247269e+00] [-3.88395028e-04 3.78768528e-06 9.99999925e-01 -3.48730327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90439141799999 meters 0.05905989932554973 Centerline is valid? [True, True] Translation: X:51.85, Y:4.60, Z:-0.35 [[ 9.96331986e-01 -8.55719910e-02 -8.82507407e-05 5.18536936e+01] [ 8.55719908e-02 9.96331990e-01 -6.40854706e-06 4.59554195e+00] [ 8.84754283e-05 -1.16675115e-06 9.99999996e-01 -3.50204295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96439141799999 meters 0.05848470049892136 Centerline is valid? [True, True] Translation: X:51.92, Y:4.60, Z:-0.35 [[ 9.96485783e-01 -8.37610203e-02 -4.19255079e-04 5.19159863e+01] [ 8.37610147e-02 9.96485871e-01 -3.10199140e-05 4.60148599e+00] [ 4.20380022e-04 -4.20632752e-06 9.99999912e-01 -3.51026555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024391417999986 meters 0.058833957106552495 Centerline is valid? [True, True] Translation: X:51.98, Y:4.61, Z:-0.35 [[ 9.96756597e-01 -8.04718708e-02 7.50792878e-04 5.19777163e+01] [ 8.04718513e-02 9.96756880e-01 5.60837309e-05 4.60980438e+00] [-7.52871129e-04 4.51586405e-06 9.99999717e-01 -3.50100463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08439141799999 meters 0.05862056338710178 Centerline is valid? [True, True] Translation: X:52.04, Y:4.62, Z:-0.35 [[ 9.96995607e-01 -7.74514354e-02 1.01739390e-03 5.20397175e+01] [ 7.74513983e-02 9.96996126e-01 7.59111535e-05 4.61791110e+00] [-1.02021721e-03 3.11549373e-06 9.99999480e-01 -3.48933214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14439141799999 meters 0.05855521540740154 Centerline is valid? [True, True] Translation: X:52.10, Y:4.63, Z:-0.35 [[ 9.97297022e-01 -7.34743705e-02 -4.08480884e-04 5.21001224e+01] [ 7.34743643e-02 9.97297106e-01 -3.02269757e-05 4.62506628e+00] [ 4.09597711e-04 1.32399638e-07 9.99999916e-01 -3.51351549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204391417999986 meters 0.057914606302111385 Centerline is valid? [True, True] Translation: X:52.16, Y:4.63, Z:-0.35 [[ 9.97435192e-01 -7.15746722e-02 -3.22982946e-04 5.21631046e+01] [ 7.15746684e-02 9.97435244e-01 -2.35669971e-05 4.63174682e+00] [ 3.23841374e-04 3.89155015e-07 9.99999948e-01 -3.52503934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26439141799999 meters 0.058419080082931514 Centerline is valid? [True, True] Translation: X:52.23, Y:4.64, Z:-0.35 [[ 9.97543690e-01 -7.00469006e-02 1.32870113e-04 5.22252719e+01] [ 7.00468998e-02 9.97543699e-01 1.00480479e-05 4.63798025e+00] [-1.33247579e-04 -7.16227306e-07 9.99999991e-01 -3.51034375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32439141799999 meters 0.05778364130581924 Centerline is valid? [True, True] Translation: X:52.29, Y:4.64, Z:-0.35 [[ 9.97459426e-01 -7.12357279e-02 -4.05337217e-04 5.22881896e+01] [ 7.12357216e-02 9.97459508e-01 -2.98484861e-05 4.64140065e+00] [ 4.06433740e-04 8.98164647e-07 9.99999917e-01 -3.52644867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384391417999986 meters 0.05771843277441223 Centerline is valid? [True, True] Translation: X:52.35, Y:4.64, Z:-0.35 [[ 9.97268557e-01 -7.38571335e-02 7.40950716e-04 5.23500164e+01] [ 7.38571128e-02 9.97268832e-01 5.53073462e-05 4.64420704e+00] [-7.43011898e-04 -4.31796678e-07 9.99999724e-01 -3.52437740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44439141799999 meters 0.058093649384902864 Centerline is valid? [True, True] Translation: X:52.41, Y:4.65, Z:-0.35 [[ 9.97012212e-01 -7.72373157e-02 1.02300223e-03 5.24123716e+01] [ 7.72372784e-02 9.97012737e-01 7.60628622e-05 4.64671356e+00] [-1.02582115e-03 3.17830566e-06 9.99999474e-01 -3.52711787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50439141799999 meters 0.058890949963815435 Centerline is valid? [True, True] Translation: X:52.48, Y:4.64, Z:-0.35 [[ 9.96543072e-01 -8.30680972e-02 1.26341320e-03 5.24750818e+01] [ 8.30680448e-02 9.96543873e-01 9.39720774e-05 4.64357923e+00] [-1.26685277e-03 1.13020419e-05 9.99999197e-01 -3.54800393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564391417999985 meters 0.05836683957495531 Centerline is valid? [True, True] Translation: X:52.54, Y:4.65, Z:-0.35 [[ 9.96179779e-01 -8.73017890e-02 2.06039919e-03 5.25371244e+01] [ 8.73016596e-02 9.96181910e-01 1.52865502e-04 4.64791901e+00] [-2.06587783e-03 2.75947470e-05 9.99997866e-01 -3.53417354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62439141799999 meters 0.058786092873678475 Centerline is valid? [True, True] Translation: X:52.60, Y:4.65, Z:-0.35 [[ 9.95884626e-01 -9.05855721e-02 2.84011675e-03 5.25991476e+01] [ 9.05853398e-02 9.95888674e-01 2.10596975e-04 4.65021473e+00] [-2.84751715e-03 4.75426512e-05 9.99995945e-01 -3.53094353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68439141799999 meters 0.05926690138434378 Centerline is valid? [True, True] Translation: X:52.66, Y:4.65, Z:-0.36 [[ 9.95464678e-01 -9.51136796e-02 1.86104635e-03 5.26590819e+01] [ 9.51135881e-02 9.95466416e-01 1.37830573e-04 4.64766163e+00] [-1.86571871e-03 3.98053289e-05 9.99998259e-01 -3.55065366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters 0.05941409417398517 Centerline is valid? [True, True] Translation: X:52.72, Y:4.65, Z:-0.35 [[ 9.95224761e-01 -9.75554464e-02 3.25741626e-03 5.27199291e+01] [ 9.75551789e-02 9.95230088e-01 2.41308493e-04 4.65245398e+00] [-3.26541963e-03 7.76216388e-05 9.99994665e-01 -3.54839225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80439141799999 meters 0.059749466300127445 Centerline is valid? [True, True] Translation: X:52.78, Y:4.65, Z:-0.36 [[ 9.95091481e-01 -9.89104877e-02 3.10806277e-03 5.27821926e+01] [ 9.89102507e-02 9.95096332e-01 2.30264934e-04 4.65433785e+00] [-3.11559748e-03 7.82845938e-05 9.99995143e-01 -3.55651580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86439141799999 meters 0.05838671922546735 Centerline is valid? [True, True] Translation: X:52.84, Y:4.67, Z:-0.36 [[ 9.95225366e-01 -9.75687186e-02 2.61069489e-03 5.28437525e+01] [ 9.75685471e-02 9.95228788e-01 1.93292724e-04 4.66812348e+00] [-2.61709804e-03 6.23518856e-05 9.99996573e-01 -3.55963164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters 0.05893135828461621 Centerline is valid? [True, True] Translation: X:52.90, Y:4.68, Z:-0.36 [[ 9.95733213e-01 -9.22513758e-02 2.24751953e-03 5.29031865e+01] [ 9.22512356e-02 9.95735749e-01 1.66182052e-04 4.67556019e+00] [-2.25326606e-03 4.18634645e-05 9.99997461e-01 -3.56639342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98439141799999 meters 0.05903408281086038 Centerline is valid? [True, True] Translation: X:52.96, Y:4.68, Z:-0.36 [[ 9.96162495e-01 -8.74918977e-02 2.33490883e-03 5.29629813e+01] [ 8.74917333e-02 9.96165231e-01 1.72667527e-04 4.68248725e+00] [-2.34106200e-03 3.22803060e-05 9.99997259e-01 -3.57015439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04439141799999 meters 0.05804910959942716 Centerline is valid? [True, True] Translation: X:53.02, Y:4.70, Z:-0.36 [[ 9.96837853e-01 -7.94141447e-02 2.77273884e-03 5.30227201e+01] [ 7.94138815e-02 9.96841709e-01 2.05069944e-04 4.69977367e+00] [-2.78026718e-03 1.57724710e-05 9.99996135e-01 -3.56222024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10439141799999 meters 0.05803558302218732 Centerline is valid? [True, True] Translation: X:53.08, Y:4.71, Z:-0.36 [[ 9.97234047e-01 -7.42488451e-02 3.37108428e-03 5.30841516e+01] [ 7.42484264e-02 9.97239745e-01 2.49368405e-04 4.70880767e+00] [-3.38029455e-03 1.61903937e-06 9.99994287e-01 -3.57282700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16439141799999 meters 0.05852004234505904 Centerline is valid? [True, True] Translation: X:53.15, Y:4.72, Z:-0.36 [[ 9.97681212e-01 -6.80349455e-02 1.85591973e-03 5.31451725e+01] [ 6.80348079e-02 9.97682939e-01 1.37256374e-04 4.71894723e+00] [-1.86095768e-03 -1.06709630e-05 9.99998268e-01 -3.58454722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22439141799999 meters 0.058503754968716425 Centerline is valid? [True, True] Translation: X:53.21, Y:4.73, Z:-0.36 [[ 9.97835120e-01 -6.57499168e-02 1.42179510e-03 5.32069143e+01] [ 6.57498336e-02 9.97836133e-01 1.05227026e-04 4.72605225e+00] [-1.42563719e-03 -1.15164315e-05 9.99998984e-01 -3.58741673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28439141799999 meters 0.05837776439469018 Centerline is valid? [True, True] Translation: X:53.27, Y:4.73, Z:-0.36 [[ 9.97942785e-01 -6.40774716e-02 2.06760952e-03 5.32681103e+01] [ 6.40772926e-02 9.97944927e-01 1.52769303e-04 4.72899236e+00] [-2.07314951e-03 -1.99682028e-05 9.99997851e-01 -3.57872001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34439141799999 meters 0.05790994319387276 Centerline is valid? [True, True] Translation: X:53.33, Y:4.73, Z:-0.36 [[ 9.97994930e-01 -6.32709523e-02 1.70484682e-03 5.33293058e+01] [ 6.32708295e-02 9.97996386e-01 1.25940767e-04 4.73386363e+00] [-1.70939936e-03 -1.78211745e-05 9.99998539e-01 -3.58639122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40439141799999 meters 0.058483182300053685 Centerline is valid? [True, True] Translation: X:53.39, Y:4.74, Z:-0.36 [[ 9.97921059e-01 -6.43985439e-02 2.52751250e-03 5.33911587e+01] [ 6.43982775e-02 9.97924259e-01 1.86713037e-04 4.73748900e+00] [-2.53429009e-03 -2.35574205e-05 9.99996788e-01 -3.58026777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46439141799999 meters 0.05854985940712984 Centerline is valid? [True, True] Translation: X:53.45, Y:4.74, Z:-0.36 [[ 9.97734195e-01 -6.72028021e-02 3.20312787e-03 5.34538965e+01] [ 6.72023896e-02 9.97739336e-01 2.36358836e-04 4.73827818e+00] [-3.21177065e-03 -2.05654462e-05 9.99994842e-01 -3.58189494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524391417999986 meters 0.05770609944913197 Centerline is valid? [True, True] Translation: X:53.52, Y:4.74, Z:-0.36 [[ 9.97405556e-01 -7.19143721e-02 3.23728012e-03 5.35162295e+01] [ 7.19139763e-02 9.97410810e-01 2.38647700e-04 4.73908031e+00] [-3.24606039e-03 -5.22285626e-06 9.99994732e-01 -3.59615520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58439141799999 meters 0.05790260809062413 Centerline is valid? [True, True] Translation: X:53.58, Y:4.74, Z:-0.36 [[ 9.96744590e-01 -8.06027868e-02 1.84763467e-03 5.35773007e+01] [ 8.06026729e-02 9.96746302e-01 1.36128649e-04 4.73541355e+00] [-1.85259537e-03 1.32387987e-05 9.99998284e-01 -3.60204585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64439141799999 meters 0.05805924754439105 Centerline is valid? [True, True] Translation: X:53.64, Y:4.74, Z:-0.36 [[ 9.96196939e-01 -8.71040841e-02 2.13024141e-03 5.36384788e+01] [ 8.71039478e-02 9.96199216e-01 1.56859458e-04 4.73619786e+00] [-2.13580792e-03 2.92895252e-05 9.99997719e-01 -3.59498643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704391417999986 meters 0.059278264994167267 Centerline is valid? [True, True] Translation: X:53.70, Y:4.73, Z:-0.36 [[ 9.95459716e-01 -9.51368703e-02 2.98832277e-03 5.36997956e+01] [ 9.51366384e-02 9.95464199e-01 2.20007267e-04 4.72767931e+00] [-2.99569913e-03 6.52906110e-05 9.99995511e-01 -3.61218635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76439141799999 meters 0.05926311964231111 Centerline is valid? [True, True] Translation: X:53.76, Y:4.73, Z:-0.36 [[ 9.95087079e-01 -9.89517396e-02 3.20275091e-03 5.37611028e+01] [ 9.89514929e-02 9.95092230e-01 2.35778064e-04 4.73026468e+00] [-3.21036320e-03 8.22972790e-05 9.99994843e-01 -3.61255087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82439141799999 meters 0.06038321763740812 Centerline is valid? [True, True] Translation: X:53.82, Y:4.73, Z:-0.36 [[ 9.94857114e-01 -1.01249119e-01 2.81746670e-03 5.38224298e+01] [ 1.01248937e-01 9.94861101e-01 2.07395303e-04 4.72820529e+00] [-2.82398661e-03 7.89368169e-05 9.99996009e-01 -3.61916286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884391417999986 meters 0.05932891195788101 Centerline is valid? [True, True] Translation: X:53.88, Y:4.74, Z:-0.36 [[ 9.94867938e-01 -1.01159239e-01 2.14329959e-03 5.38848831e+01] [ 1.01159134e-01 9.94870245e-01 1.57853241e-04 4.73983269e+00] [-2.14827331e-03 5.97712018e-05 9.99997691e-01 -3.62172009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94439141799999 meters 0.05921792769835689 Centerline is valid? [True, True] Translation: X:53.95, Y:4.75, Z:-0.36 [[ 9.95038537e-01 -9.94691361e-02 2.04943169e-03 5.39462177e+01] [ 9.94690363e-02 9.95040646e-01 1.50802927e-04 4.74766974e+00] [-2.05426807e-03 5.38002709e-05 9.99997889e-01 -3.62172637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00439141799999 meters 0.05815996783996241 Centerline is valid? [True, True] Translation: X:54.01, Y:4.76, Z:-0.36 [[ 9.95220722e-01 -9.76322755e-02 1.91134802e-03 5.40066098e+01] [ 9.76321856e-02 9.95222556e-01 1.40534043e-04 4.75832939e+00] [-1.91593732e-03 4.67466922e-05 9.99998163e-01 -3.61687273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064391417999985 meters 0.05881496522405784 Centerline is valid? [True, True] Translation: X:54.07, Y:4.76, Z:-0.36 [[ 9.95605549e-01 -9.35956563e-02 3.07320682e-03 5.40663841e+01] [ 9.35954049e-02 9.95610290e-01 2.25812211e-04 4.76391144e+00] [-3.08085137e-03 6.28181462e-05 9.99995252e-01 -3.61790139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12439141799999 meters 0.05864771585241576 Centerline is valid? [True, True] Translation: X:54.13, Y:4.77, Z:-0.36 [[ 9.95723866e-01 -9.23082606e-02 3.62884697e-03 5.41281267e+01] [ 9.23079007e-02 9.95730476e-01 2.66898288e-04 4.77373593e+00] [-3.63799043e-03 6.92142503e-05 9.99993380e-01 -3.61407365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18439141799999 meters 0.058047780147581884 Centerline is valid? [True, True] Translation: X:54.19, Y:4.78, Z:-0.36 [[ 9.96090761e-01 -8.83083863e-02 2.19676044e-03 5.41879551e+01] [ 8.83082455e-02 9.96093182e-01 1.61202868e-04 4.77937052e+00] [-2.20241366e-03 3.34193729e-05 9.99997574e-01 -3.62724179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244391417999985 meters 0.05821674313355733 Centerline is valid? [True, True] Translation: X:54.25, Y:4.79, Z:-0.36 [[ 9.96242313e-01 -8.66029531e-02 1.08759655e-03 5.42500863e+01] [ 8.66029174e-02 9.96242906e-01 7.99701008e-05 4.78902251e+00] [-1.09043600e-03 1.45194363e-05 9.99999405e-01 -3.62808106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30439141799999 meters 0.05842556410428775 Centerline is valid? [True, True] Translation: X:54.31, Y:4.79, Z:-0.36 [[ 9.96252111e-01 -8.64672765e-02 2.26746740e-03 5.43119779e+01] [ 8.64671217e-02 9.96254691e-01 1.66398986e-04 4.79009012e+00] [-2.27336310e-03 3.02860389e-05 9.99997415e-01 -3.63898414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36439141799999 meters 0.057891511409869104 Centerline is valid? [True, True] Translation: X:54.37, Y:4.80, Z:-0.36 [[ 9.96124210e-01 -8.79321621e-02 2.11978927e-03 5.43738107e+01] [ 8.79320303e-02 9.96126465e-01 1.55468384e-04 4.80238414e+00] [-2.12524887e-03 3.15315537e-05 9.99997741e-01 -3.61560817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters 0.05765559951188271 Centerline is valid? [True, True] Translation: X:54.44, Y:4.80, Z:-0.36 [[ 9.96010401e-01 -8.92112242e-02 2.15385953e-03 5.44358121e+01] [ 8.92110907e-02 9.96012729e-01 1.58154680e-04 4.80274748e+00] [-2.15938068e-03 3.46244513e-05 9.99997668e-01 -3.64030356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48439141799999 meters 0.05805559538193946 Centerline is valid? [True, True] Translation: X:54.50, Y:4.81, Z:-0.36 [[ 9.96041659e-01 -8.88147499e-02 3.59906920e-03 5.44974763e+01] [ 8.88143772e-02 9.96048160e-01 2.63547749e-04 4.81405879e+00] [-3.60825319e-03 5.71445531e-05 9.99993489e-01 -3.63900969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54439141799999 meters 0.05799915441601195 Centerline is valid? [True, True] Translation: X:54.56, Y:4.81, Z:-0.37 [[ 9.96296871e-01 -8.58991876e-02 3.72484529e-03 5.45592666e+01] [ 8.58987702e-02 9.96303833e-01 2.72179388e-04 4.81322113e+00] [-3.73445763e-03 4.87881570e-05 9.99993026e-01 -3.65152885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters 0.057999991934121774 Centerline is valid? [True, True] Translation: X:54.62, Y:4.82, Z:-0.36 [[ 9.96872903e-01 -7.89178804e-02 4.04773517e-03 5.46189408e+01] [ 7.89173306e-02 9.96881120e-01 2.95626035e-04 4.82286568e+00] [-4.05844095e-03 2.47348709e-05 9.99991764e-01 -3.64103754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66439141799999 meters 0.05787151036723779 Centerline is valid? [True, True] Translation: X:54.68, Y:4.83, Z:-0.36 [[ 9.97254525e-01 -7.39015239e-02 4.68803762e-03 5.46812453e+01] [ 7.39007310e-02 9.97265544e-01 3.42380306e-04 4.82847806e+00] [-4.70052081e-03 5.00909753e-06 9.99988952e-01 -3.64041448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72439141799999 meters 0.05855802376558238 Centerline is valid? [True, True] Translation: X:54.74, Y:4.83, Z:-0.36 [[ 9.97600662e-01 -6.91002913e-02 4.25077383e-03 5.47429759e+01] [ 6.90995964e-02 9.97609718e-01 3.10297277e-04 4.83379647e+00] [-4.26205492e-03 -1.58260128e-05 9.99990917e-01 -3.64993390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78439141799999 meters 0.058112539247495355 Centerline is valid? [True, True] Translation: X:54.81, Y:4.84, Z:-0.37 [[ 9.97643890e-01 -6.85125071e-02 3.56449686e-03 5.48054697e+01] [ 6.85120150e-02 9.97650257e-01 2.60123834e-04 4.83797706e+00] [-3.57394295e-03 -1.53000910e-05 9.99993613e-01 -3.66537025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84439141799999 meters 0.05867646217397544 Centerline is valid? [True, True] Translation: X:54.87, Y:4.84, Z:-0.37 [[ 9.97447931e-01 -7.13419956e-02 2.81878408e-03 5.48673693e+01] [ 7.13416992e-02 9.97451913e-01 2.05684588e-04 4.83976507e+00] [-2.82627552e-03 -4.06282100e-06 9.99996006e-01 -3.68159480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90439141799999 meters 0.058359435363370064 Centerline is valid? [True, True] Translation: X:54.93, Y:4.84, Z:-0.37 [[ 9.97170255e-01 -7.51077171e-02 3.21156016e-03 5.49308719e+01] [ 7.51073522e-02 9.97175426e-01 2.34244664e-04 4.84161170e+00] [-3.22008245e-03 7.62996833e-06 9.99994815e-01 -3.68468877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96439141799999 meters 0.058126988945806965 Centerline is valid? [True, True] Translation: X:54.99, Y:4.84, Z:-0.37 [[ 9.96584699e-01 -8.25085136e-02 3.35913642e-03 5.49926140e+01] [ 8.25081573e-02 9.96590359e-01 2.44738554e-04 4.84203449e+00] [-3.36787598e-03 3.32534580e-05 9.99994328e-01 -3.68316922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024391417999986 meters 0.05830691707434512 Centerline is valid? [True, True] Translation: X:55.05, Y:4.84, Z:-0.37 [[ 9.96126288e-01 -8.78560305e-02 3.70621207e-03 5.50533454e+01] [ 8.78556345e-02 9.96133181e-01 2.69826030e-04 4.84351870e+00] [-3.71558667e-03 5.68308115e-05 9.99993096e-01 -3.68527763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08439141799999 meters 0.05805338971600226 Centerline is valid? [True, True] Translation: X:55.11, Y:4.85, Z:-0.37 [[ 9.95446535e-01 -9.52387041e-02 3.97316644e-03 5.51132719e+01] [ 9.52383081e-02 9.95454460e-01 2.89194221e-04 4.84682540e+00] [-3.98264873e-03 9.05202641e-05 9.99992065e-01 -3.68732931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14439141799999 meters 0.059500622023275024 Centerline is valid? [True, True] Translation: X:55.17, Y:4.84, Z:-0.37 [[ 9.95104093e-01 -9.87510444e-02 4.00942351e-03 5.51748798e+01] [ 9.87506692e-02 9.95112165e-01 2.91904301e-04 4.83785770e+00] [-4.01865196e-03 1.05458091e-04 9.99991920e-01 -3.70015847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204391417999986 meters 0.058771114859942276 Centerline is valid? [True, True] Translation: X:55.24, Y:4.85, Z:-0.37 [[ 9.94860501e-01 -1.01176642e-01 3.98369082e-03 5.52357668e+01] [ 1.01176291e-01 9.94868471e-01 2.89971028e-04 4.84798738e+00] [-3.99258669e-03 1.14574341e-04 9.99992023e-01 -3.70013577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26439141799999 meters 0.06008318777722299 Centerline is valid? [True, True] Translation: X:55.30, Y:4.85, Z:-0.37 [[ 9.94848636e-01 -1.01324021e-01 3.10395228e-03 5.52969781e+01] [ 1.01323809e-01 9.94853474e-01 2.25951351e-04 4.84675462e+00] [-3.11087201e-03 8.97168741e-05 9.99995157e-01 -3.70905584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32439141799999 meters 0.058858090862941505 Centerline is valid? [True, True] Translation: X:55.36, Y:4.86, Z:-0.37 [[ 9.94845304e-01 -1.01344453e-01 3.48180992e-03 5.53596145e+01] [ 1.01344187e-01 9.94851392e-01 2.53392372e-04 4.85790488e+00] [-3.48956335e-03 1.00774983e-04 9.99993906e-01 -3.70896529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384391417999986 meters 0.05869529827569013 Centerline is valid? [True, True] Translation: X:55.42, Y:4.87, Z:-0.37 [[ 9.94867008e-01 -1.01119505e-01 3.80564751e-03 5.54219892e+01] [ 1.01119185e-01 9.94874280e-01 2.76880174e-04 4.86583037e+00] [-3.81413882e-03 1.09365026e-04 9.99992720e-01 -3.70856648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44439141799999 meters 0.06029514521956101 Centerline is valid? [True, True] Translation: X:55.48, Y:4.87, Z:-0.37 [[ 9.95027568e-01 -9.95416254e-02 3.40654753e-03 5.54822627e+01] [ 9.95413622e-02 9.95033394e-01 2.47136280e-04 4.86580236e+00] [-3.41422890e-03 9.31849698e-05 9.99994167e-01 -3.71956273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50439141799999 meters 0.05815359054892492 Centerline is valid? [True, True] Translation: X:55.54, Y:4.88, Z:-0.37 [[ 9.95128246e-01 -9.85352080e-02 3.25358407e-03 5.55436144e+01] [ 9.85349624e-02 9.95133562e-01 2.36084124e-04 4.88224149e+00] [-3.26101330e-03 8.56578039e-05 9.99994679e-01 -3.71382094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564391417999985 meters 0.05802848765400788 Centerline is valid? [True, True] Translation: X:55.60, Y:4.89, Z:-0.37 [[ 9.95237448e-01 -9.74370082e-02 2.90704377e-03 5.56048796e+01] [ 9.74368077e-02 9.95241691e-01 2.10861962e-04 4.89202874e+00] [-2.91375691e-03 7.33953437e-05 9.99995752e-01 -3.71304105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62439141799999 meters 0.0586777562235604 Centerline is valid? [True, True] Translation: X:55.67, Y:4.90, Z:-0.37 [[ 9.95174702e-01 -9.80918268e-02 2.30332316e-03 5.56652946e+01] [ 9.80917029e-02 9.95177366e-01 1.66971938e-04 4.89872416e+00] [-2.30859366e-03 5.97706424e-05 9.99997333e-01 -3.71548792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68439141799999 meters 0.05879002991482786 Centerline is valid? [True, True] Translation: X:55.73, Y:4.90, Z:-0.37 [[ 9.95148564e-01 -9.83328180e-02 3.16098499e-03 5.57269481e+01] [ 9.83325854e-02 9.95153581e-01 2.29307331e-04 4.90101859e+00] [-3.16821397e-03 8.26329656e-05 9.99994978e-01 -3.71533254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744391417999985 meters 0.05893716816939514 Centerline is valid? [True, True] Translation: X:55.79, Y:4.91, Z:-0.37 [[ 9.95056375e-01 -9.92592073e-02 3.22811580e-03 5.57886448e+01] [ 9.92589714e-02 9.95061607e-01 2.33616517e-04 4.91035580e+00] [-3.23536269e-03 8.79578493e-05 9.99994762e-01 -3.71928619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80439141799999 meters 0.05828228649842148 Centerline is valid? [True, True] Translation: X:55.85, Y:4.92, Z:-0.37 [[ 9.94923957e-01 -1.00616211e-01 1.64226172e-03 5.58498527e+01] [ 1.00616151e-01 9.94925312e-01 1.19215933e-04 4.91950805e+00] [-1.64592281e-03 4.66272665e-05 9.99998644e-01 -3.73474110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86439141799999 meters 0.05840783505581966 Centerline is valid? [True, True] Translation: X:55.91, Y:4.93, Z:-0.37 [[ 9.94642393e-01 -1.03375339e-01 2.22843302e-04 5.59093010e+01] [ 1.03375338e-01 9.94642418e-01 1.60900577e-05 4.92583132e+00] [-2.23312715e-04 7.03264810e-06 9.99999975e-01 -3.74683692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924391417999985 meters 0.05792298297542993 Centerline is valid? [True, True] Translation: X:55.97, Y:4.94, Z:-0.37 [[ 9.94495046e-01 -1.04783429e-01 1.91193008e-04 5.59705354e+01] [ 1.04783428e-01 9.94495064e-01 1.39921145e-05 4.93526216e+00] [-1.91606644e-04 6.11877016e-06 9.99999982e-01 -3.74373604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98439141799999 meters 0.05871316714560745 Centerline is valid? [True, True] Translation: X:56.03, Y:4.94, Z:-0.37 [[ 9.94542088e-01 -1.04329558e-01 1.17444712e-03 5.60319515e+01] [ 1.04329530e-01 9.94542780e-01 8.52664144e-05 4.94009059e+00] [-1.17693371e-03 3.77284778e-05 9.99999307e-01 -3.74455901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04439141799999 meters 0.05884234771230387 Centerline is valid? [True, True] Translation: X:56.09, Y:4.95, Z:-0.37 [[ 9.94702957e-01 -1.02783747e-01 1.23604381e-03 5.60925341e+01] [ 1.02783715e-01 9.94703725e-01 8.92383368e-05 4.95113809e+00] [-1.23866963e-03 3.82795371e-05 9.99999232e-01 -3.73854471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters 0.057888678601328264 Centerline is valid? [True, True] Translation: X:56.15, Y:4.97, Z:-0.37 [[ 9.94989392e-01 -9.99710559e-02 1.37778860e-03 5.61522479e+01] [ 9.99710142e-02 9.94990345e-01 9.92841735e-05 4.96796370e+00] [-1.38081190e-03 3.89522244e-05 9.99999046e-01 -3.72952407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16439141799999 meters 0.058093213263003714 Centerline is valid? [True, True] Translation: X:56.21, Y:4.97, Z:-0.37 [[ 9.95096497e-01 -9.89049771e-02 8.75918348e-04 5.62133909e+01] [ 9.89049594e-02 9.95096882e-01 6.36373178e-05 4.97282108e+00] [-8.77917665e-04 2.33073966e-05 9.99999614e-01 -3.73895349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22439141799999 meters 0.05680047884407501 Centerline is valid? [True, True] Translation: X:56.27, Y:4.99, Z:-0.37 [[ 9.94867823e-01 -1.01181080e-01 6.35746658e-04 5.62741883e+01] [ 1.01181072e-01 9.94868026e-01 4.58516866e-05 4.98528968e+00] [-6.37123345e-04 1.87091605e-05 9.99999797e-01 -3.73865106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28439141799999 meters 0.057883301527576314 Centerline is valid? [True, True] Translation: X:56.33, Y:4.99, Z:-0.37 [[ 9.94627587e-01 -1.03517919e-01 -5.26190296e-05 5.63341973e+01] [ 1.03517919e-01 9.94627589e-01 -3.78293539e-06 4.98989648e+00] [ 5.27279401e-05 -1.68440052e-06 9.99999999e-01 -3.74603998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34439141799999 meters 0.056522587337416545 Centerline is valid? [True, True] Translation: X:56.40, Y:5.00, Z:-0.37 [[ 9.94662637e-01 -1.03176084e-01 9.66423336e-04 5.63958438e+01] [ 1.03176064e-01 9.94663106e-01 7.00604011e-05 5.00305633e+00] [-9.68494195e-04 3.00252927e-05 9.99999531e-01 -3.73649918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40439141799999 meters 0.05677765864750924 Centerline is valid? [True, True] Translation: X:56.45, Y:5.01, Z:-0.38 [[ 9.95226230e-01 -9.75866988e-02 1.25984267e-03 5.64548865e+01] [ 9.75866625e-02 9.95227027e-01 9.03875585e-05 5.01143312e+00] [-1.26265010e-03 3.29877721e-05 9.99999202e-01 -3.75217904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46439141799999 meters 0.05696632341159237 Centerline is valid? [True, True] Translation: X:56.51, Y:5.02, Z:-0.38 [[ 9.95958681e-01 -8.98042054e-02 1.22921975e-03 5.65138433e+01] [ 8.98041649e-02 9.95959439e-01 8.81997550e-05 5.02254572e+00] [-1.23217373e-03 2.25457419e-05 9.99999241e-01 -3.75772837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524391417999986 meters 0.05665881711416428 Centerline is valid? [True, True] Translation: X:56.57, Y:5.04, Z:-0.38 [[ 9.96375911e-01 -8.50295313e-02 2.24110212e-03 5.65733998e+01] [ 8.50293844e-02 9.96378431e-01 1.60899057e-04 5.03654471e+00] [-2.24666699e-03 3.02435899e-05 9.99997476e-01 -3.75585193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58439141799999 meters 0.05621679237024474 Centerline is valid? [True, True] Translation: X:56.63, Y:5.05, Z:-0.38 [[ 9.96871511e-01 -7.89971798e-02 2.57608597e-03 5.66338257e+01] [ 7.89969653e-02 9.96874839e-01 1.85064769e-04 5.04781188e+00] [-2.58265488e-03 1.90171780e-05 9.99996665e-01 -3.76029532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64439141799999 meters 0.056290798598550205 Centerline is valid? [True, True] Translation: X:56.70, Y:5.06, Z:-0.37 [[ 9.97191433e-01 -7.48264882e-02 3.20048962e-03 5.66950847e+01] [ 7.48261354e-02 9.97196569e-01 2.29992378e-04 5.06063055e+00] [-3.20872679e-03 1.01338408e-05 9.99994852e-01 -3.74798163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704391417999986 meters 0.056070994803912026 Centerline is valid? [True, True] Translation: X:56.76, Y:5.07, Z:-0.38 [[ 9.97327364e-01 -7.30079204e-02 2.82370698e-03 5.67569987e+01] [ 7.30076392e-02 9.97331361e-01 2.02697688e-04 5.06792183e+00] [-2.83097006e-03 3.99622945e-06 9.99995993e-01 -3.75645635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76439141799999 meters 0.05578149336315543 Centerline is valid? [True, True] Translation: X:56.82, Y:5.07, Z:-0.38 [[ 9.97297147e-01 -7.34115774e-02 3.02326245e-03 5.68192799e+01] [ 7.34112587e-02 9.97301730e-01 2.16399970e-04 5.07455573e+00] [-3.03099114e-03 6.12642979e-06 9.99995407e-01 -3.75579375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82439141799999 meters 0.05667246638078473 Centerline is valid? [True, True] Translation: X:56.88, Y:5.08, Z:-0.38 [[ 9.96996702e-01 -7.74045783e-02 2.47147826e-03 5.68814815e+01] [ 7.74043773e-02 9.96999765e-01 1.77038172e-04 5.07940141e+00] [-2.47776681e-03 1.47967621e-05 9.99996930e-01 -3.76629180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884391417999986 meters 0.05566590905824382 Centerline is valid? [True, True] Translation: X:56.94, Y:5.08, Z:-0.38 [[ 9.96669546e-01 -8.15327678e-02 1.49110051e-03 5.69431233e+01] [ 8.15326991e-02 9.96670662e-01 1.06879094e-04 5.08419884e+00] [-1.49485028e-03 1.50503115e-05 9.99998883e-01 -3.77565506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94439141799999 meters 0.05659417242642854 Centerline is valid? [True, True] Translation: X:57.00, Y:5.09, Z:-0.38 [[ 9.96149569e-01 -8.76582763e-02 1.43627858e-03 5.70027059e+01] [ 8.76582197e-02 9.96150604e-01 1.02474384e-04 5.08634778e+00] [-1.43973250e-03 2.38218098e-05 9.99998963e-01 -3.79121292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00439141799999 meters 0.05640542739218828 Centerline is valid? [True, True] Translation: X:57.06, Y:5.09, Z:-0.38 [[ 9.95737111e-01 -9.21563188e-02 3.84948327e-03 5.70630339e+01] [ 9.21559474e-02 9.95744549e-01 2.74126455e-04 5.08967624e+00] [-3.85836446e-03 8.17948936e-05 9.99992553e-01 -3.78168992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064391417999985 meters 0.056951431947279224 Centerline is valid? [True, True] Translation: X:57.12, Y:5.09, Z:-0.38 [[ 9.95584579e-01 -9.37329755e-02 5.04732338e-03 5.71238463e+01] [ 9.37323575e-02 9.95597366e-01 3.59377511e-04 5.09166962e+00] [-5.05878739e-03 1.15306812e-04 9.99987198e-01 -3.77424142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12439141799999 meters 0.05688906909840756 Centerline is valid? [True, True] Translation: X:57.19, Y:5.10, Z:-0.38 [[ 9.95491140e-01 -9.47236392e-02 4.98225841e-03 5.71852824e+01] [ 9.47230494e-02 9.95503600e-01 3.54752851e-04 5.09652558e+00] [-4.99345967e-03 1.18781390e-04 9.99987526e-01 -3.78608226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18439141799999 meters 0.05704914531964008 Centerline is valid? [True, True] Translation: X:57.25, Y:5.10, Z:-0.38 [[ 9.95574369e-01 -9.38578162e-02 4.73140556e-03 5.72472587e+01] [ 9.38572766e-02 9.95585606e-01 3.36465093e-04 5.10232981e+00] [-4.74209915e-03 1.09100818e-04 9.99988750e-01 -3.79685223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244391417999985 meters 0.05579399416851058 Centerline is valid? [True, True] Translation: X:57.31, Y:5.11, Z:-0.38 [[ 9.95713655e-01 -9.23655509e-02 4.78769561e-03 5.73090297e+01] [ 9.23649835e-02 9.95725160e-01 3.39958740e-04 5.11378463e+00] [-4.79862945e-03 1.03713866e-04 9.99988481e-01 -3.79736678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30439141799999 meters 0.05635372571464189 Centerline is valid? [True, True] Translation: X:57.37, Y:5.12, Z:-0.38 [[ 9.96417910e-01 -8.44730765e-02 3.95567104e-03 5.73679302e+01] [ 8.44726291e-02 9.96425761e-01 2.80318208e-04 5.12215464e+00] [-3.96521187e-03 5.48318498e-05 9.99992137e-01 -3.81309078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36439141799999 meters 0.05556273117059363 Centerline is valid? [True, True] Translation: X:57.43, Y:5.14, Z:-0.38 [[ 9.97230940e-01 -7.42745946e-02 3.70638935e-03 5.74280004e+01] [ 7.42741311e-02 9.97237827e-01 2.62718021e-04 5.13793531e+00] [-3.71566494e-03 1.32983097e-05 9.99993097e-01 -3.81833632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424391417999985 meters 0.05601410994754928 Centerline is valid? [True, True] Translation: X:57.49, Y:5.15, Z:-0.38 [[ 9.97676971e-01 -6.80214878e-02 3.70649888e-03 5.74890548e+01] [ 6.80209809e-02 9.97683856e-01 2.62802386e-04 5.14810788e+00] [-3.71579031e-03 -1.00721986e-05 9.99993096e-01 -3.82961486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48439141799999 meters 0.05634735815151853 Centerline is valid? [True, True] Translation: X:57.55, Y:5.16, Z:-0.38 [[ 9.98023146e-01 -6.27817637e-02 2.87227896e-03 5.75502690e+01] [ 6.27814381e-02 9.98027279e-01 2.03472022e-04 5.15663011e+00] [-2.87938709e-03 -2.27439841e-05 9.99995854e-01 -3.83632748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54439141799999 meters 0.056192390618706345 Centerline is valid? [True, True] Translation: X:57.61, Y:5.16, Z:-0.38 [[ 9.98076999e-01 -6.19467416e-02 2.21475281e-03 5.76111200e+01] [ 6.19465458e-02 9.98079456e-01 1.56972896e-04 5.16352302e+00] [-2.22022324e-03 -1.94747503e-05 9.99997535e-01 -3.84819426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604391417999985 meters 0.055623453337452146 Centerline is valid? [True, True] Translation: X:57.67, Y:5.17, Z:-0.38 [[ 9.97842483e-01 -6.55999336e-02 2.65095844e-03 5.76738636e+01] [ 6.55996666e-02 9.97846004e-01 1.87638024e-04 5.16520450e+00] [-2.65755733e-03 -1.33312018e-05 9.99996469e-01 -3.84170357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66439141799999 meters 0.055389466806106805 Centerline is valid? [True, True] Translation: X:57.74, Y:5.16, Z:-0.38 [[ 9.97268209e-01 -7.37700868e-02 3.75415296e-03 5.77353328e+01] [ 7.37696098e-02 9.97275275e-01 2.65539937e-04 5.16406395e+00] [-3.76351283e-03 1.21278619e-05 9.99992918e-01 -3.84636067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72439141799999 meters 0.0557795541696557 Centerline is valid? [True, True] Translation: X:57.80, Y:5.16, Z:-0.38 [[ 9.96712539e-01 -8.08968861e-02 4.45070130e-03 5.77973055e+01] [ 8.08962899e-02 9.96722475e-01 3.14110326e-04 5.16484179e+00] [-4.46152457e-03 4.69675225e-05 9.99990046e-01 -3.83619546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78439141799999 meters 0.05601305663041111 Centerline is valid? [True, True] Translation: X:57.86, Y:5.16, Z:-0.38 [[ 9.95768267e-01 -9.17804263e-02 4.68100068e-03 5.78580440e+01] [ 9.17798883e-02 9.95779264e-01 3.30051237e-04 5.15747513e+00] [-4.69153566e-03 1.00967171e-04 9.99988990e-01 -3.84036243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84439141799999 meters 0.05636902274099454 Centerline is valid? [True, True] Translation: X:57.92, Y:5.15, Z:-0.38 [[ 9.95281331e-01 -9.69082822e-02 4.88435135e-03 5.79182696e+01] [ 9.69077587e-02 9.95293307e-01 3.44302064e-04 5.15447851e+00] [-4.89472793e-03 1.30654125e-04 9.99988012e-01 -3.84807456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90439141799999 meters 0.05815588193387649 Centerline is valid? [True, True] Translation: X:57.98, Y:5.15, Z:-0.39 [[ 9.94867065e-01 -1.01072077e-01 4.89469307e-03 5.79790426e+01] [ 1.01071602e-01 9.94879094e-01 3.45065313e-04 5.15139306e+00] [-4.90450428e-03 1.51420354e-04 9.99987961e-01 -3.85407863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96439141799999 meters 0.05764775431546942 Centerline is valid? [True, True] Translation: X:58.04, Y:5.16, Z:-0.39 [[ 9.94717636e-01 -1.02548977e-01 4.53111575e-03 5.80405790e+01] [ 1.02548584e-01 9.94727946e-01 3.19563667e-04 5.15761051e+00] [-4.53999838e-03 1.46783890e-04 9.99989683e-01 -3.86091306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024391417999986 meters 0.05766893337701983 Centerline is valid? [True, True] Translation: X:58.10, Y:5.16, Z:-0.39 [[ 9.94724708e-01 -1.02504675e-01 3.94306437e-03 5.81035036e+01] [ 1.02504378e-01 9.94732514e-01 2.77831807e-04 5.16206737e+00] [-3.95077340e-03 1.27815198e-04 9.99992187e-01 -3.87062779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08439141799999 meters 0.057000009253680255 Centerline is valid? [True, True] Translation: X:58.16, Y:5.17, Z:-0.39 [[ 9.94864747e-01 -1.01107280e-01 4.63178779e-03 5.81647325e+01] [ 1.01106859e-01 9.94875518e-01 3.25531418e-04 5.16733214e+00] [-4.64096588e-03 1.44445783e-04 9.99989220e-01 -3.87109886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14439141799999 meters 0.05565069275208324 Centerline is valid? [True, True] Translation: X:58.22, Y:5.18, Z:-0.39 [[ 9.95325069e-01 -9.64947493e-02 4.09513321e-03 5.82244527e+01] [ 9.64943816e-02 9.95333488e-01 2.87735722e-04 5.18165690e+00] [-4.10378821e-03 1.08766770e-04 9.99991574e-01 -3.86999238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204391417999986 meters 0.05526594249084063 Centerline is valid? [True, True] Translation: X:58.28, Y:5.19, Z:-0.39 [[ 9.95999677e-01 -8.93105172e-02 2.87662203e-03 5.82849872e+01] [ 8.93103056e-02 9.96003830e-01 2.02167173e-04 5.19013884e+00] [-2.88318221e-03 5.55535540e-05 9.99995842e-01 -3.88297508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26439141799999 meters 0.05584056988568521 Centerline is valid? [True, True] Translation: X:58.34, Y:5.20, Z:-0.39 [[ 9.96564884e-01 -8.27796370e-02 2.44195872e-03 5.83447297e+01] [ 8.27794651e-02 9.96567876e-01 1.71566976e-04 5.19536335e+00] [-2.44777987e-03 3.11664132e-05 9.99997004e-01 -3.89123335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32439141799999 meters 0.055911091438814293 Centerline is valid? [True, True] Translation: X:58.40, Y:5.20, Z:-0.39 [[ 9.97103076e-01 -7.60165843e-02 2.63343275e-03 5.84045720e+01] [ 7.60163609e-02 9.97106553e-01 1.84994096e-04 5.20297092e+00] [-2.63987567e-03 1.57257921e-05 9.99996515e-01 -3.88416289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384391417999986 meters 0.056100162024675465 Centerline is valid? [True, True] Translation: X:58.47, Y:5.21, Z:-0.39 [[ 9.97664171e-01 -6.82009436e-02 3.85132055e-03 5.84662040e+01] [ 6.82004067e-02 9.97671605e-01 2.70722369e-04 5.21160874e+00] [-3.86081668e-03 -7.42837983e-06 9.99992547e-01 -3.87142421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44439141799999 meters 0.05619602915113549 Centerline is valid? [True, True] Translation: X:58.53, Y:5.22, Z:-0.39 [[ 9.97962039e-01 -6.36610598e-02 4.36318407e-03 5.85272628e+01] [ 6.36603299e-02 9.97971577e-01 3.06095524e-04 5.21814024e+00] [-4.37382005e-03 -2.77099756e-05 9.99990434e-01 -3.87830801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50439141799999 meters 0.05636965020116918 Centerline is valid? [True, True] Translation: X:58.59, Y:5.22, Z:-0.39 [[ 9.98252065e-01 -5.88950417e-02 4.91813077e-03 5.85892369e+01] [ 5.88940597e-02 9.98264179e-01 3.44380809e-04 5.22421937e+00] [-4.92987610e-03 -5.41301663e-05 9.99987847e-01 -3.87985155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564391417999985 meters 0.05612180883324336 Centerline is valid? [True, True] Translation: X:58.65, Y:5.22, Z:-0.39 [[ 9.98363465e-01 -5.70417918e-02 4.07734890e-03 5.86516353e+01] [ 5.70411014e-02 9.98371790e-01 2.85523652e-04 5.22412994e+00] [-4.08699691e-03 -5.24799103e-05 9.99991647e-01 -3.87970302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62439141799999 meters 0.056307781424094226 Centerline is valid? [True, True] Translation: X:58.71, Y:5.23, Z:-0.39 [[ 9.98272242e-01 -5.86550602e-02 3.48069599e-03 5.87135200e+01] [ 5.86545682e-02 9.98278309e-01 2.43345601e-04 5.22627105e+00] [-3.48897675e-03 -3.87664388e-05 9.99993913e-01 -3.89253219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68439141799999 meters 0.0569367183467669 Centerline is valid? [True, True] Translation: X:58.78, Y:5.22, Z:-0.39 [[ 9.97895533e-01 -6.47365454e-02 3.69921772e-03 5.87752714e+01] [ 6.47360325e-02 9.97902390e-01 2.58342252e-04 5.22130847e+00] [-3.70818238e-03 -1.83259006e-05 9.99993125e-01 -3.90127386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744391417999985 meters 0.05588422467424293 Centerline is valid? [True, True] Translation: X:58.84, Y:5.22, Z:-0.39 [[ 9.97612719e-01 -6.89572808e-02 3.70903641e-03 5.88364684e+01] [ 6.89567946e-02 9.97619614e-01 2.58965025e-04 5.22105633e+00] [-3.71806499e-03 -2.58354062e-06 9.99993088e-01 -3.90166264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80439141799999 meters 0.05623711573933973 Centerline is valid? [True, True] Translation: X:58.90, Y:5.22, Z:-0.39 [[ 9.97272011e-01 -7.36327169e-02 5.17284697e-03 5.88986500e+01] [ 7.36318365e-02 9.97285427e-01 3.60688057e-04 5.21717733e+00] [-5.18536334e-03 2.11821178e-05 9.99986556e-01 -3.90566132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86439141799999 meters 0.05672582526623327 Centerline is valid? [True, True] Translation: X:58.96, Y:5.21, Z:-0.39 [[ 9.96966724e-01 -7.77181432e-02 4.15219747e-03 5.89611572e+01] [ 7.77176132e-02 9.96975370e-01 2.89083257e-04 5.21354605e+00] [-4.16210562e-03 3.44924886e-05 9.99991338e-01 -3.92345399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924391417999985 meters 0.05624539017687853 Centerline is valid? [True, True] Translation: X:59.02, Y:5.21, Z:-0.39 [[ 9.96725071e-01 -8.07713431e-02 3.88889324e-03 5.90228172e+01] [ 8.07709014e-02 9.96732656e-01 2.70746291e-04 5.21130597e+00] [-3.89805543e-03 4.42497964e-05 9.99992402e-01 -3.92709408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98439141799999 meters 0.05587269690239534 Centerline is valid? [True, True] Translation: X:59.08, Y:5.21, Z:-0.39 [[ 9.96282506e-01 -8.60589214e-02 3.87681382e-03 5.90845958e+01] [ 8.60585249e-02 9.96290047e-01 2.69308370e-04 5.20875141e+00] [-3.88560741e-03 6.53256610e-05 9.99992449e-01 -3.92719866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04439141799999 meters 0.056431173367600417 Centerline is valid? [True, True] Translation: X:59.15, Y:5.21, Z:-0.39 [[ 9.96160762e-01 -8.74704398e-02 3.55782025e-03 5.91466446e+01] [ 8.74701148e-02 9.96167113e-01 2.47166477e-04 5.20818703e+00] [-3.56580328e-03 6.49853986e-05 9.99993640e-01 -3.94328321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104391417999985 meters 0.056627464602839184 Centerline is valid? [True, True] Translation: X:59.21, Y:5.21, Z:-0.40 [[ 9.96503754e-01 -8.35022514e-02 2.76450061e-03 5.92085893e+01] [ 8.35020400e-02 9.96507588e-01 1.91989183e-04 5.21050345e+00] [-2.77087736e-03 3.95234995e-05 9.99996160e-01 -3.95877196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16439141799999 meters 0.056915406430015095 Centerline is valid? [True, True] Translation: X:59.27, Y:5.22, Z:-0.40 [[ 9.96749593e-01 -8.05269094e-02 2.38016565e-03 5.92706352e+01] [ 8.05267444e-02 9.96752435e-01 1.65217582e-04 5.21762802e+00] [-2.38574037e-03 2.69864331e-05 9.99997154e-01 -3.95529440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22439141799999 meters 0.05601383591942172 Centerline is valid? [True, True] Translation: X:59.33, Y:5.22, Z:-0.40 [[ 9.97500536e-01 -7.05658473e-02 3.62530979e-03 5.93316079e+01] [ 7.05653996e-02 9.97507123e-01 2.51406709e-04 5.22300598e+00] [-3.63401307e-03 5.04310756e-06 9.99993397e-01 -3.95865076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28439141799999 meters 0.05606187103839838 Centerline is valid? [True, True] Translation: X:59.39, Y:5.23, Z:-0.40 [[ 9.97866984e-01 -6.51263487e-02 4.47680736e-03 5.93936793e+01] [ 6.51256119e-02 9.97877026e-01 3.10321914e-04 5.22781881e+00] [-4.48751335e-03 -1.81051731e-05 9.99989931e-01 -3.95344682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34439141799999 meters 0.056693372477837095 Centerline is valid? [True, True] Translation: X:59.46, Y:5.23, Z:-0.40 [[ 9.98050861e-01 -6.22165424e-02 4.85594203e-03 5.94562681e+01] [ 6.22156419e-02 9.98062674e-01 3.36421260e-04 5.23056214e+00] [-4.86746546e-03 -3.36499779e-05 9.99988153e-01 -3.95385382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40439141799999 meters 0.056879476654895615 Centerline is valid? [True, True] Translation: X:59.52, Y:5.23, Z:-0.40 [[ 9.97859204e-01 -6.53389618e-02 2.79818111e-03 5.95177502e+01] [ 6.53386744e-02 9.97863127e-01 1.94080223e-04 5.22944051e+00] [-2.80488275e-03 -1.08352928e-05 9.99996066e-01 -3.96868449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46439141799999 meters 0.05659953587136469 Centerline is valid? [True, True] Translation: X:59.58, Y:5.23, Z:-0.40 [[ 9.97500472e-01 -7.05872110e-02 3.20221821e-03 5.95803171e+01] [ 7.05868637e-02 9.97505612e-01 2.21496874e-04 5.22709685e+00] [-3.20986549e-03 5.09130450e-06 9.99994848e-01 -3.98350287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524391417999986 meters 0.057662494369370494 Centerline is valid? [True, True] Translation: X:59.64, Y:5.22, Z:-0.40 [[ 9.96812701e-01 -7.97241888e-02 2.91422652e-03 5.96411094e+01] [ 7.97239407e-02 9.96816960e-01 2.01377106e-04 5.22117015e+00] [-2.92100504e-03 3.15983653e-05 9.99995733e-01 -3.98768071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58439141799999 meters 0.05710410778467174 Centerline is valid? [True, True] Translation: X:59.70, Y:5.22, Z:-0.40 [[ 9.96372085e-01 -8.50605390e-02 2.71546726e-03 5.97013415e+01] [ 8.50603435e-02 9.96375784e-01 1.87596560e-04 5.22002094e+00] [-2.72158288e-03 4.40626022e-05 9.99996296e-01 -3.98576794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64439141799999 meters 0.0578613470324708 Centerline is valid? [True, True] Translation: X:59.76, Y:5.22, Z:-0.40 [[ 9.95883070e-01 -9.05238264e-02 4.72731708e-03 5.97620876e+01] [ 9.05232955e-02 9.95894285e-01 3.26588947e-04 5.21859915e+00] [-4.73747215e-03 1.02687918e-04 9.99988773e-01 -3.97137056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704391417999986 meters 0.0576363227269592 Centerline is valid? [True, True] Translation: X:59.82, Y:5.22, Z:-0.40 [[ 9.95721659e-01 -9.22408293e-02 5.47790702e-03 5.98243804e+01] [ 9.22401424e-02 9.95736719e-01 3.78437342e-04 5.21898226e+00] [-5.48946053e-03 1.28464665e-04 9.99984925e-01 -3.97640782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76439141799999 meters 0.05856334415614668 Centerline is valid? [True, True] Translation: X:59.89, Y:5.22, Z:-0.40 [[ 9.95634072e-01 -9.31744795e-02 5.59564639e-03 5.98854213e+01] [ 9.31737786e-02 9.95649787e-01 3.86377703e-04 5.21828296e+00] [-5.60730467e-03 1.36676712e-04 9.99984270e-01 -3.98880058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82439141799999 meters 0.05766936386696548 Centerline is valid? [True, True] Translation: X:59.95, Y:5.22, Z:-0.40 [[ 9.95575849e-01 -9.38041213e-02 5.43288509e-03 5.99472033e+01] [ 9.38034731e-02 9.95590663e-01 3.74579144e-04 5.22307550e+00] [-5.44406673e-03 1.36701540e-04 9.99985172e-01 -4.00140336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884391417999986 meters 0.05751859226915642 Centerline is valid? [True, True] Translation: X:60.01, Y:5.23, Z:-0.40 [[ 9.95468106e-01 -9.50243776e-02 3.69019883e-03 6.00088615e+01] [ 9.50240871e-02 9.95474941e-01 2.54372233e-04 5.22855063e+00] [-3.69767202e-03 9.74383298e-05 9.99993159e-01 -4.02105875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94439141799999 meters 0.058114183675136766 Centerline is valid? [True, True] Translation: X:60.07, Y:5.23, Z:-0.40 [[ 9.95517552e-01 -9.45165993e-02 3.37866492e-03 6.00712550e+01] [ 9.45163529e-02 9.95523282e-01 2.32884909e-04 5.23033943e+00] [-3.38555108e-03 8.74980717e-05 9.99994265e-01 -4.02587053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00439141799999 meters 0.057763704900721836 Centerline is valid? [True, True] Translation: X:60.13, Y:5.23, Z:-0.40 [[ 9.95921788e-01 -9.00974403e-02 4.71627493e-03 6.01308243e+01] [ 9.00969130e-02 9.95932950e-01 3.24581774e-04 5.23308459e+00] [-4.72633759e-03 1.01663752e-04 9.99988826e-01 -4.02737593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064391417999985 meters 0.05759859861650424 Centerline is valid? [True, True] Translation: X:60.19, Y:5.24, Z:-0.40 [[ 9.96379263e-01 -8.48560733e-02 5.27370843e-03 6.01914368e+01] [ 8.48553404e-02 9.96393215e-01 3.62966418e-04 5.24272268e+00] [-5.28548720e-03 8.58501124e-05 9.99986028e-01 -4.03899221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12439141799999 meters 0.05730612409819833 Centerline is valid? [True, True] Translation: X:60.25, Y:5.26, Z:-0.40 [[ 9.97205912e-01 -7.45764178e-02 4.32757834e-03 6.02508784e+01] [ 7.45758277e-02 9.97215301e-01 2.97776254e-04 5.25764941e+00] [-4.33773443e-03 2.57884958e-05 9.99990592e-01 -4.04611639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18439141799999 meters 0.05659505723100409 Centerline is valid? [True, True] Translation: X:60.31, Y:5.27, Z:-0.40 [[ 9.97697139e-01 -6.77108010e-02 3.95794504e-03 6.03130718e+01] [ 6.77102532e-02 9.97704990e-01 2.72403461e-04 5.26707848e+00] [-3.96730617e-03 -3.78269373e-06 9.99992130e-01 -4.04498441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244391417999985 meters 0.05761141211828436 Centerline is valid? [True, True] Translation: X:60.38, Y:5.27, Z:-0.40 [[ 9.98076322e-01 -6.17206594e-02 5.84942085e-03 6.03752792e+01] [ 6.17193618e-02 9.98093462e-01 4.02253568e-04 5.27305323e+00] [-5.86309606e-03 -4.04572393e-05 9.99982811e-01 -4.03459451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30439141799999 meters 0.05739570619910341 Centerline is valid? [True, True] Translation: X:60.44, Y:5.28, Z:-0.40 [[ 9.98081445e-01 -6.15532169e-02 6.68067337e-03 6.04379571e+01] [ 6.15515224e-02 9.98103802e-01 4.59143090e-04 5.27685336e+00] [-6.69626722e-03 -4.70565815e-05 9.99977579e-01 -4.02778017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36439141799999 meters 0.056996702525381054 Centerline is valid? [True, True] Translation: X:60.50, Y:5.28, Z:-0.40 [[ 9.97926555e-01 -6.40528003e-02 6.31108379e-03 6.05000796e+01] [ 6.40513398e-02 9.97946511e-01 4.33467620e-04 5.27741187e+00] [-6.32588886e-03 -2.83354762e-05 9.99979991e-01 -4.04524362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424391417999985 meters 0.057459300671283395 Centerline is valid? [True, True] Translation: X:60.56, Y:5.27, Z:-0.41 [[ 9.97318520e-01 -7.29971603e-02 5.21384079e-03 6.05635471e+01] [ 7.29962880e-02 9.97332148e-01 3.57651403e-04 5.27338161e+00] [-5.22603857e-03 2.38986558e-05 9.99986344e-01 -4.06326947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48439141799999 meters 0.0576098189759875 Centerline is valid? [True, True] Translation: X:60.62, Y:5.27, Z:-0.41 [[ 9.96494330e-01 -8.35654328e-02 3.98347404e-03 6.06234508e+01] [ 8.35650091e-02 9.96502290e-01 2.72984007e-04 5.26636740e+00] [-3.99235303e-03 6.08520295e-05 9.99992029e-01 -4.07343084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54439141799999 meters 0.057782969596210716 Centerline is valid? [True, True] Translation: X:60.68, Y:5.27, Z:-0.41 [[ 9.95867572e-01 -9.07322004e-02 3.93026370e-03 6.06844465e+01] [ 9.07318436e-02 9.95875324e-01 2.69368555e-04 5.26668361e+00] [-3.93849303e-03 8.83446616e-05 9.99992240e-01 -4.07254016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604391417999985 meters 0.05814371166440101 Centerline is valid? [True, True] Translation: X:60.75, Y:5.27, Z:-0.41 [[ 9.95095527e-01 -9.88161533e-02 4.50102260e-03 6.07454513e+01] [ 9.88157679e-02 9.95105697e-01 3.08489678e-04 5.26535342e+00] [-4.50947700e-03 1.37795305e-04 9.99989823e-01 -4.07359370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66439141799999 meters 0.05942706887602546 Centerline is valid? [True, True] Translation: X:60.81, Y:5.26, Z:-0.41 [[ 9.94801215e-01 -1.01710319e-01 5.05502757e-03 6.08053557e+01] [ 1.01709870e-01 9.94814044e-01 3.46395730e-04 5.26452057e+00] [-5.06404444e-03 1.69551305e-04 9.99987163e-01 -4.07644590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72439141799999 meters 0.05957366669709013 Centerline is valid? [True, True] Translation: X:60.87, Y:5.27, Z:-0.41 [[ 9.94614808e-01 -1.03508536e-01 5.23129442e-03 6.08660752e+01] [ 1.03508080e-01 9.94628548e-01 3.58486345e-04 5.26731191e+00] [-5.24030117e-03 1.84925414e-04 9.99986252e-01 -4.06977231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391417999984 meters 0.058002388473829304 Centerline is valid? [True, True] Translation: X:60.93, Y:5.28, Z:-0.41 [[ 9.94483507e-01 -1.04763037e-01 5.22106938e-03 6.09274912e+01] [ 1.04762601e-01 9.94497194e-01 3.57717936e-04 5.27917836e+00] [-5.22981446e-03 1.91228222e-04 9.99986306e-01 -4.06937686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84439141799999 meters 0.05811970444707009 Centerline is valid? [True, True] Translation: X:60.99, Y:5.29, Z:-0.41 [[ 9.94301696e-01 -1.06500176e-01 4.67433878e-03 6.09882576e+01] [ 1.06499846e-01 9.94312667e-01 3.20108650e-04 5.28657889e+00] [-4.68184589e-03 1.79531787e-04 9.99989024e-01 -4.08563548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90439141799999 meters 0.057082513801568764 Centerline is valid? [True, True] Translation: X:61.05, Y:5.30, Z:-0.41 [[ 9.94019672e-01 -1.09161273e-01 2.95080910e-03 6.10485837e+01] [ 1.09161153e-01 9.94024045e-01 2.02030894e-04 5.29724651e+00] [-2.95522915e-03 1.21291042e-04 9.99995626e-01 -4.10086511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96439141799999 meters 0.057607838941251176 Centerline is valid? [True, True] Translation: X:61.11, Y:5.30, Z:-0.41 [[ 9.93888717e-01 -1.10351666e-01 2.78010061e-03 6.11103682e+01] [ 1.10351564e-01 9.93892598e-01 1.90422738e-04 5.30395941e+00] [-2.78413488e-03 1.17529440e-04 9.99996117e-01 -4.10903839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters 0.060305891400619004 Centerline is valid? [True, True] Translation: X:61.17, Y:5.30, Z:-0.41 [[ 9.93960276e-01 -1.09723221e-01 1.94532403e-03 6.11716619e+01] [ 1.09723170e-01 9.93962176e-01 1.33538654e-04 5.30068841e+00] [-1.94823080e-03 8.07150014e-05 9.99998099e-01 -4.12458225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08439141799998 meters 0.06223995818823981 Centerline is valid? [True, True] Translation: X:61.23, Y:5.30, Z:-0.41 [[ 9.94021581e-01 -1.09170565e-01 1.69847371e-03 6.12338805e+01] [ 1.09170525e-01 9.94023029e-01 1.16163765e-04 5.30114872e+00] [-1.70100365e-03 6.99539776e-05 9.99998551e-01 -4.13605772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14439141799998 meters 0.05813771569407091 Centerline is valid? [True, True] Translation: X:61.29, Y:5.33, Z:-0.41 [[ 9.94377660e-01 -1.05865390e-01 2.36404006e-03 6.12931669e+01] [ 1.05865305e-01 9.94380466e-01 1.61463449e-04 5.32606833e+00] [-2.36784865e-03 8.97141740e-05 9.99997193e-01 -4.12421673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20439141799999 meters 0.05894508365796898 Centerline is valid? [True, True] Translation: X:61.35, Y:5.33, Z:-0.41 [[ 9.94814870e-01 -1.01678166e-01 2.21922283e-03 6.13520493e+01] [ 1.01678080e-01 9.94817343e-01 1.51495509e-04 5.33414066e+00] [-2.22312514e-03 7.49363318e-05 9.99997526e-01 -4.11923785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters 0.0580164342299679 Centerline is valid? [True, True] Translation: X:61.41, Y:5.35, Z:-0.41 [[ 9.95572070e-01 -9.39259484e-02 3.76428642e-03 6.14113468e+01] [ 9.39256473e-02 9.95579182e-01 2.57072374e-04 5.35067341e+00] [-3.77179096e-03 9.76289629e-05 9.99992882e-01 -4.10640096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters 0.05749455251714443 Centerline is valid? [True, True] Translation: X:61.47, Y:5.36, Z:-0.41 [[ 9.96022147e-01 -8.89549961e-02 5.18567390e-03 6.14712161e+01] [ 8.89543578e-02 9.96035640e-01 3.54078647e-04 5.36154005e+00] [-5.19661309e-03 1.08618117e-04 9.99986492e-01 -4.10534557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters 0.0561563264144295 Centerline is valid? [True, True] Translation: X:61.53, Y:5.38, Z:-0.41 [[ 9.96428363e-01 -8.42485965e-02 5.71762244e-03 6.15306536e+01] [ 8.42477433e-02 9.96444763e-01 3.90340192e-04 5.37839506e+00] [-5.73018055e-03 9.27507500e-05 9.99983578e-01 -4.09764773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44439141799998 meters 0.0558097674370768 Centerline is valid? [True, True] Translation: X:61.59, Y:5.39, Z:-0.41 [[ 9.96616874e-01 -8.20527437e-02 4.70684157e-03 6.15917934e+01] [ 8.20521408e-02 9.96627986e-01 3.21387341e-04 5.38990504e+00] [-4.71734074e-03 6.59063799e-05 9.99988871e-01 -4.11714607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50439141799998 meters 0.05602299262598755 Centerline is valid? [True, True] Translation: X:61.65, Y:5.40, Z:-0.41 [[ 9.96683772e-01 -8.12712603e-02 4.05464397e-03 6.16533195e+01] [ 8.12708064e-02 9.96692018e-01 2.76867425e-04 5.39870140e+00] [-4.06373264e-03 5.35749150e-05 9.99991742e-01 -4.12402428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56439141799999 meters 0.05543736818749286 Centerline is valid? [True, True] Translation: X:61.71, Y:5.40, Z:-0.41 [[ 9.96795863e-01 -7.99047414e-02 3.63867783e-03 6.17148118e+01] [ 7.99043681e-02 9.96802503e-01 2.48102160e-04 5.40487701e+00] [-3.64686770e-03 4.34390454e-05 9.99993349e-01 -4.11110095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62439141799999 meters 0.05610230356289597 Centerline is valid? [True, True] Translation: X:61.78, Y:5.41, Z:-0.41 [[ 9.96849406e-01 -7.90700523e-02 6.26008866e-03 6.17772227e+01] [ 7.90689378e-02 9.96869060e-01 4.25708378e-04 5.41089190e+00] [-6.27414948e-03 7.06114169e-05 9.99980315e-01 -4.09023600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters 0.05552738331805811 Centerline is valid? [True, True] Translation: X:61.84, Y:5.42, Z:-0.41 [[ 9.96943357e-01 -7.76326766e-02 8.78129984e-03 6.18387523e+01] [ 7.76304342e-02 9.96982026e-01 5.96444820e-04 5.42059465e+00] [-8.80110171e-03 8.70744184e-05 9.99961266e-01 -4.05149065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters 0.05687776642997134 Centerline is valid? [True, True] Translation: X:61.90, Y:5.43, Z:-0.40 [[ 9.96991609e-01 -7.69681115e-02 9.14559691e-03 6.18994506e+01] [ 7.69656610e-02 9.97033551e-01 6.20126452e-04 5.42746089e+00] [-9.16619693e-03 8.56360420e-05 9.99957986e-01 -4.01603454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters 0.05682663018929686 Centerline is valid? [True, True] Translation: X:61.96, Y:5.43, Z:-0.40 [[ 9.96773017e-01 -7.97472042e-02 9.16171275e-03 6.19604944e+01] [ 7.97448714e-02 9.96815114e-01 6.20237452e-04 5.43206087e+00] [-9.18199594e-03 1.12363649e-04 9.99957838e-01 -3.96251974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86439141799998 meters 0.05684620831335204 Centerline is valid? [True, True] Translation: X:62.02, Y:5.44, Z:-0.40 [[ 9.96490167e-01 -8.33873499e-02 7.34151777e-03 6.20220484e+01] [ 8.33859555e-02 9.96517203e-01 4.96358791e-04 5.43563103e+00] [-7.35733880e-03 1.17562820e-04 9.99972928e-01 -3.95986151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92439141799998 meters 0.05788635296610438 Centerline is valid? [True, True] Translation: X:62.08, Y:5.44, Z:-0.40 [[ 9.96223684e-01 -8.68157418e-02 1.18273960e-03 6.20822644e+01] [ 8.68157080e-02 9.96224386e-01 8.00423605e-05 5.43594513e+00] [-1.18522297e-03 2.29402804e-05 9.99999297e-01 -3.99751330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98439141799999 meters 0.056843893666774226 Centerline is valid? [True, True] Translation: X:62.14, Y:5.44, Z:-0.40 [[ 9.96610842e-01 -8.22048452e-02 -3.03191776e-03 6.21427835e+01] [ 8.22046037e-02 9.96615453e-01 -2.04393966e-04 5.44496008e+00] [ 3.03845826e-03 -4.55363550e-05 9.99995383e-01 -4.04495743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters 0.056593612840038825 Centerline is valid? [True, True] Translation: X:62.20, Y:5.45, Z:-0.41 [[ 9.97170680e-01 -7.51169172e-02 -2.84318420e-03 6.22028719e+01] [ 7.51166756e-02 9.97174733e-01 -1.91807382e-04 5.45337396e+00] [ 2.84955942e-03 -2.23058478e-05 9.99995940e-01 -4.06117065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters 0.05628228349830768 Centerline is valid? [True, True] Translation: X:62.26, Y:5.46, Z:-0.41 [[ 9.97890482e-01 -6.49198106e-02 5.77970146e-05 6.22640579e+01] [ 6.49198105e-02 9.97890484e-01 4.10700447e-06 5.46208693e+00] [-5.79417169e-05 -3.46169431e-07 9.99999998e-01 -4.06765815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters 0.05707498139948083 Centerline is valid? [True, True] Translation: X:62.33, Y:5.47, Z:-0.40 [[ 9.98134164e-01 -6.10147624e-02 2.32156852e-03 6.23258086e+01] [ 6.10145623e-02 9.98136864e-01 1.57011721e-04 5.46566436e+00] [-2.32682315e-03 -1.50692756e-05 9.99997293e-01 -4.04218946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22439141799998 meters 0.057040278439818716 Centerline is valid? [True, True] Translation: X:62.39, Y:5.47, Z:-0.41 [[ 9.97919600e-01 -6.44621641e-02 1.04983453e-03 6.23879449e+01] [ 6.44621252e-02 9.97920152e-01 7.08507824e-05 5.46891226e+00] [-1.05221823e-03 -3.02881941e-06 9.99999446e-01 -4.06047388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28439141799998 meters 0.056154567182711175 Centerline is valid? [True, True] Translation: X:62.45, Y:5.46, Z:-0.41 [[ 9.97104553e-01 -7.60259406e-02 -1.60228877e-03 6.24505531e+01] [ 7.60258659e-02 9.97105840e-01 -1.07509430e-04 5.46352503e+00] [ 1.60582499e-03 -1.46172495e-05 9.99998711e-01 -4.06259347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34439141799999 meters 0.056738613703029 Centerline is valid? [True, True] Translation: X:62.51, Y:5.46, Z:-0.41 [[ 9.96434027e-01 -8.42965030e-02 -3.65089626e-03 6.25100543e+01] [ 8.42961697e-02 9.96440714e-01 -2.45338440e-04 5.46193102e+00] [ 3.65858285e-03 -6.32930008e-05 9.99993305e-01 -4.06601864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters 0.05710799513422174 Centerline is valid? [True, True] Translation: X:62.57, Y:5.46, Z:-0.41 [[ 9.95486337e-01 -9.47909258e-02 -4.65122900e-03 6.25711059e+01] [ 9.47904995e-02 9.95497194e-01 -3.12522367e-04 5.46303677e+00] [ 4.65990971e-03 -1.29780574e-04 9.99989134e-01 -4.06460739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters 0.056649591362276895 Centerline is valid? [True, True] Translation: X:62.63, Y:5.47, Z:-0.41 [[ 9.94653895e-01 -1.03182732e-01 -4.11745342e-03 6.26305011e+01] [ 1.03182469e-01 9.94662406e-01 -2.76641841e-04 5.46576842e+00] [ 4.12402079e-03 -1.49686127e-04 9.99991485e-01 -4.06494300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters 0.05559527516696856 Centerline is valid? [True, True] Translation: X:62.69, Y:5.47, Z:-0.41 [[ 9.94124253e-01 -1.08237122e-01 -1.30173608e-03 6.26911046e+01] [ 1.08237100e-01 9.94125104e-01 -8.73169338e-05 5.47237811e+00] [ 1.30353945e-03 -5.40922568e-05 9.99999149e-01 -4.06016283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58439141799998 meters 0.05820624508765238 Centerline is valid? [True, True] Translation: X:62.75, Y:5.46, Z:-0.41 [[ 9.93749273e-01 -1.11620322e-01 1.81286555e-03 6.27519199e+01] [ 1.11620285e-01 9.93750923e-01 1.21758179e-04 5.46289676e+00] [-1.81512750e-03 8.13554678e-05 9.99998349e-01 -4.06103649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64439141799998 meters 0.05657409811290735 Centerline is valid? [True, True] Translation: X:62.81, Y:5.48, Z:-0.40 [[ 9.93740170e-01 -1.11676327e-01 2.97874646e-03 6.28137670e+01] [ 1.11676227e-01 9.93744625e-01 2.00502632e-04 5.48030755e+00] [-2.98250468e-03 1.33407646e-04 9.99995543e-01 -4.04190068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70439141799999 meters 0.060493471094072805 Centerline is valid? [True, True] Translation: X:62.88, Y:5.47, Z:-0.41 [[ 9.93838089e-01 -1.10818056e-01 2.28300151e-03 6.28760161e+01] [ 1.10817995e-01 9.93840706e-01 1.53497746e-04 5.47471966e+00] [-2.28595015e-03 1.00445743e-04 9.99997382e-01 -4.05063997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters 0.05703861675898433 Centerline is valid? [True, True] Translation: X:62.94, Y:5.50, Z:-0.41 [[ 9.93872313e-01 -1.10530397e-01 -9.25778618e-04 6.29370884e+01] [ 1.10530388e-01 9.93872743e-01 -6.12411319e-05 5.49540861e+00] [ 9.26875141e-04 -4.14608041e-05 9.99999570e-01 -4.06386212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters 0.05566464737717036 Centerline is valid? [True, True] Translation: X:63.00, Y:5.51, Z:-0.41 [[ 9.94118627e-01 -1.08267930e-01 -2.49211764e-03 6.29964115e+01] [ 1.08267852e-01 9.94121745e-01 -1.66497559e-04 5.51402592e+00] [ 2.49549468e-03 -1.04297900e-04 9.99996881e-01 -4.06544543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters 0.05524571514298931 Centerline is valid? [True, True] Translation: X:63.06, Y:5.52, Z:-0.41 [[ 9.94660795e-01 -1.03166030e-01 -2.58312913e-03 6.30566886e+01] [ 1.03165929e-01 9.94664145e-01 -1.72563940e-04 5.52305069e+00] [ 2.58714867e-03 -9.48483310e-05 9.99996649e-01 -4.07960926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94439141799998 meters 0.056217209395517255 Centerline is valid? [True, True] Translation: X:63.12, Y:5.53, Z:-0.41 [[ 9.95851884e-01 -9.09683944e-02 -1.94332350e-03 6.31157782e+01] [ 9.09683140e-02 9.95853779e-01 -1.29901610e-04 5.53130314e+00] [ 1.94708299e-03 -4.74180994e-05 9.99998103e-01 -4.10677489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00439141799998 meters 0.05545602616565058 Centerline is valid? [True, True] Translation: X:63.17, Y:5.55, Z:-0.41 [[ 9.96613610e-01 -8.22230196e-02 -8.28702009e-04 6.31748623e+01] [ 8.22230020e-02 9.96613955e-01 -5.53853264e-05 5.55306255e+00] [ 8.30449936e-04 -1.29405969e-05 9.99999655e-01 -4.06089756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06439141799999 meters 0.05630485257006687 Centerline is valid? [True, True] Translation: X:63.23, Y:5.56, Z:-0.41 [[ 9.97217403e-01 -7.45438941e-02 8.12195779e-04 6.32345869e+01] [ 7.45438746e-02 9.97217733e-01 5.43339443e-05 5.55607197e+00] [-8.13986298e-04 6.36146551e-06 9.99999669e-01 -4.09416457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12439141799999 meters 0.056221118742378756 Centerline is valid? [True, True] Translation: X:63.30, Y:5.57, Z:-0.41 [[ 9.97637148e-01 -6.86719119e-02 2.07126196e-03 6.32963244e+01] [ 6.86717722e-02 9.97639298e-01 1.38546330e-04 5.57113361e+00] [-2.07588657e-03 4.01826406e-06 9.99997845e-01 -4.05727625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters 0.05576188162254995 Centerline is valid? [True, True] Translation: X:63.36, Y:5.58, Z:-0.41 [[ 9.97579064e-01 -6.95183123e-02 1.79294951e-03 6.33587788e+01] [ 6.95182088e-02 9.97580676e-01 1.20108233e-04 5.57629026e+00] [-1.79696150e-03 4.82517954e-06 9.99998385e-01 -4.07224038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters 0.056243344683214805 Centerline is valid? [True, True] Translation: X:63.42, Y:5.58, Z:-0.41 [[ 9.97123715e-01 -7.57890993e-02 -5.56276805e-04 6.34203838e+01] [ 7.57890906e-02 9.97123870e-01 -3.67441062e-05 5.58139336e+00] [ 5.57461683e-04 -5.52129348e-06 9.99999845e-01 -4.09190604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30439141799998 meters 0.05577686505631466 Centerline is valid? [True, True] Translation: X:63.48, Y:5.58, Z:-0.41 [[ 9.96611822e-01 -8.22356476e-02 -1.47489076e-03 6.34806609e+01] [ 8.22355923e-02 9.96612913e-01 -9.82200710e-05 5.58373972e+00] [ 1.47797237e-03 -2.34012313e-05 9.99998908e-01 -4.11903747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36439141799998 meters 0.05596417869154334 Centerline is valid? [True, True] Translation: X:63.54, Y:5.59, Z:-0.41 [[ 9.96329853e-01 -8.55831756e-02 1.53106471e-03 6.35413443e+01] [ 8.55831198e-02 9.96331029e-01 1.02082236e-04 5.58544268e+00] [-1.53418380e-03 2.93257150e-05 9.99998823e-01 -4.11885989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42439141799998 meters 0.05562895353124772 Centerline is valid? [True, True] Translation: X:63.60, Y:5.59, Z:-0.41 [[ 9.96006597e-01 -8.89973919e-02 7.09383897e-03 6.36013885e+01] [ 8.89962826e-02 9.96031846e-01 4.72527110e-04 5.59039396e+00] [-7.10774321e-03 1.60685179e-04 9.99974727e-01 -4.07430443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48439141799999 meters 0.05561022014168476 Centerline is valid? [True, True] Translation: X:63.66, Y:5.59, Z:-0.41 [[ 9.95552610e-01 -9.39427075e-02 7.05468492e-03 6.36623496e+01] [ 9.39417347e-02 9.95577586e-01 4.69861482e-04 5.59348952e+00] [-7.06762625e-03 1.94957515e-04 9.99975005e-01 -4.08465093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters 0.05578399767799255 Centerline is valid? [True, True] Translation: X:63.72, Y:5.60, Z:-0.41 [[ 9.95185067e-01 -9.78692013e-02 5.31992455e-03 6.37233591e+01] [ 9.78687044e-02 9.95199272e-01 3.54275700e-04 5.59659312e+00] [-5.32905772e-03 1.68084237e-04 9.99985786e-01 -4.10464718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters 0.05457280568393251 Centerline is valid? [True, True] Translation: X:63.78, Y:5.60, Z:-0.41 [[ 9.94869687e-01 -1.01131845e-01 2.58006841e-03 6.37841161e+01] [ 1.01131739e-01 9.94873028e-01 1.71829770e-04 5.60361137e+00] [-2.58421794e-03 8.99785765e-05 9.99996657e-01 -4.13163601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters 0.0540861000520318 Centerline is valid? [True, True] Translation: X:63.85, Y:5.61, Z:-0.42 [[ 9.94996742e-01 -9.98991201e-02 1.28458719e-03 6.38457991e+01] [ 9.98990926e-02 9.94997570e-01 8.57166520e-05 5.60760567e+00] [-1.28672415e-03 4.30413054e-05 9.99999171e-01 -4.15158804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72439141799998 meters 0.0564218900301692 Centerline is valid? [True, True] Translation: X:63.90, Y:5.62, Z:-0.42 [[ 9.95783395e-01 -9.17139861e-02 1.99375052e-03 6.39048100e+01] [ 9.17139042e-02 9.95785390e-01 1.32650911e-04 5.61502026e+00] [-1.99751358e-03 5.07630698e-05 9.99998004e-01 -4.15415345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78439141799998 meters 0.056028653750738115 Centerline is valid? [True, True] Translation: X:63.96, Y:5.62, Z:-0.41 [[ 9.96429389e-01 -8.43485216e-02 3.71476235e-03 6.39644612e+01] [ 8.43481859e-02 9.96436311e-01 2.47228601e-04 5.62138685e+00] [-3.72237746e-03 6.69876217e-05 9.99993070e-01 -4.13958209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84439141799999 meters 0.05516430322069719 Centerline is valid? [True, True] Translation: X:64.02, Y:5.64, Z:-0.41 [[ 9.97149394e-01 -7.52326535e-02 5.75627331e-03 6.40245762e+01] [ 7.52316956e-02 9.97166007e-01 3.83059715e-04 5.63632756e+00] [-5.76877867e-03 5.10864389e-05 9.99983359e-01 -4.10709250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters 0.05507479024036231 Centerline is valid? [True, True] Translation: X:64.09, Y:5.64, Z:-0.42 [[ 9.97527139e-01 -7.02453727e-02 2.27898203e-03 6.40850017e+01] [ 7.02452087e-02 9.97529743e-01 1.52027391e-04 5.64395566e+00] [-2.28403158e-03 8.43612006e-06 9.99997392e-01 -4.15925056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters 0.05472585017836383 Centerline is valid? [True, True] Translation: X:64.15, Y:5.65, Z:-0.42 [[ 9.97481269e-01 -7.09299555e-02 2.43288180e-04 6.41466967e+01] [ 7.09299535e-02 9.97481299e-01 1.68286448e-05 5.65139102e+00] [-2.43869064e-04 4.70161328e-07 9.99999970e-01 -4.17457137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters 0.054369915984986465 Centerline is valid? [True, True] Translation: X:64.21, Y:5.65, Z:-0.42 [[ 9.97213828e-01 -7.45787627e-02 -1.60946635e-03 6.42078980e+01] [ 7.45786889e-02 9.97215126e-01 -1.05944008e-04 5.65428888e+00] [ 1.61288536e-03 -1.43830607e-05 9.99998699e-01 -4.21739188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08439141799998 meters 0.054505609016138226 Centerline is valid? [True, True] Translation: X:64.27, Y:5.66, Z:-0.42 [[ 9.96959778e-01 -7.79173562e-02 2.94435343e-04 6.42690368e+01] [ 7.79173536e-02 9.96959821e-01 2.00877334e-05 5.65741227e+00] [-2.95105390e-04 2.91496055e-06 9.99999956e-01 -4.21089112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14439141799998 meters 0.055145305220031283 Centerline is valid? [True, True] Translation: X:64.33, Y:5.66, Z:-0.42 [[ 9.96429431e-01 -8.43661830e-02 3.27665353e-03 6.43297904e+01] [ 8.43659265e-02 9.96434816e-01 2.16675935e-04 5.65983597e+00] [-3.28325178e-03 6.05356315e-05 9.99994608e-01 -4.17896387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20439141799999 meters 0.055664692065218555 Centerline is valid? [True, True] Translation: X:64.39, Y:5.66, Z:-0.42 [[ 9.96030744e-01 -8.89532244e-02 3.17504729e-03 6.43897357e+01] [ 8.89530069e-02 9.96035802e-01 2.09911310e-04 5.65919349e+00] [-3.18113306e-03 7.33518852e-05 9.99994937e-01 -4.17733965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters 0.05528780697908757 Centerline is valid? [True, True] Translation: X:64.45, Y:5.67, Z:-0.42 [[ 9.95817412e-01 -9.13567897e-02 1.27212685e-03 6.44498656e+01] [ 9.13567567e-02 9.95818224e-01 8.41405889e-05 5.66851310e+00] [-1.27449392e-03 3.24287198e-05 9.99999187e-01 -4.19940430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters 0.054224613921713856 Centerline is valid? [True, True] Translation: X:64.51, Y:5.68, Z:-0.42 [[ 9.96502154e-01 -8.35262611e-02 2.61168137e-03 6.45098931e+01] [ 8.35260954e-02 9.96505575e-01 1.72661467e-04 5.67766149e+00] [-2.61697681e-03 4.60860226e-05 9.99996575e-01 -4.21941438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters 0.054862319224975344 Centerline is valid? [True, True] Translation: X:64.57, Y:5.68, Z:-0.42 [[ 9.97111899e-01 -7.57549291e-02 5.38993850e-03 6.45691994e+01] [ 7.57541099e-02 9.97126465e-01 3.56276930e-04 5.68361653e+00] [-5.40144006e-03 5.30620274e-05 9.99985411e-01 -4.21137609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44439141799998 meters 0.05369332122273533 Centerline is valid? [True, True] Translation: X:64.63, Y:5.70, Z:-0.42 [[ 9.97652518e-01 -6.75784117e-02 1.10730173e-02 6.46306069e+01] [ 6.75744521e-02 9.97713966e-01 7.31768749e-04 5.69714114e+00] [-1.10971558e-02 1.82021453e-05 9.99938425e-01 -4.17238156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50439141799998 meters 0.05512964611356697 Centerline is valid? [True, True] Translation: X:64.69, Y:5.70, Z:-0.42 [[ 9.97734630e-01 -6.68464764e-02 7.56016998e-03 6.46920610e+01] [ 6.68446121e-02 9.97763273e-01 4.99290656e-04 5.70043555e+00] [-7.57663576e-03 7.19705152e-06 9.99971297e-01 -4.19287932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56439141799999 meters 0.05539939313288298 Centerline is valid? [True, True] Translation: X:64.75, Y:5.70, Z:-0.42 [[ 9.97710851e-01 -6.75587458e-02 2.97892116e-03 6.47541453e+01] [ 6.75584593e-02 9.97715298e-01 1.96843338e-04 5.70332494e+00] [-2.98541370e-03 4.85858892e-06 9.99995544e-01 -4.23472205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62439141799999 meters 0.05476962813776798 Centerline is valid? [True, True] Translation: X:64.82, Y:5.71, Z:-0.43 [[ 9.97878288e-01 -6.50707209e-02 -2.17332921e-03 6.48156751e+01] [ 6.50705655e-02 9.97880655e-01 -1.42224102e-04 5.71022661e+00] [ 2.17797780e-03 5.02582637e-07 9.99997628e-01 -4.30062098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters 0.05420692918405656 Centerline is valid? [True, True] Translation: X:64.88, Y:5.72, Z:-0.43 [[ 9.98018982e-01 -6.28937845e-02 -1.57558674e-03 6.48785719e+01] [ 6.28937000e-02 9.98020226e-01 -1.03135938e-04 5.71513428e+00] [ 1.57895405e-03 3.83714397e-06 9.99998753e-01 -4.27976447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters 0.05454415080207619 Centerline is valid? [True, True] Translation: X:64.94, Y:5.72, Z:-0.43 [[ 9.98102464e-01 -6.15598353e-02 1.36335018e-03 6.49410571e+01] [ 6.15597697e-02 9.98103395e-01 9.00759210e-05 5.71614561e+00] [-1.36630950e-03 -5.97747581e-06 9.99999067e-01 -4.28355673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80439141799998 meters 0.05448541080848903 Centerline is valid? [True, True] Translation: X:65.00, Y:5.72, Z:-0.43 [[ 9.98026770e-01 -6.27271953e-02 2.80459493e-03 6.50020139e+01] [ 6.27269253e-02 9.98030710e-01 1.84214666e-04 5.71670522e+00] [-2.81062714e-03 -7.92755140e-06 9.99996050e-01 -4.29487802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86439141799998 meters 0.05436564156322202 Centerline is valid? [True, True] Translation: X:65.06, Y:5.72, Z:-0.43 [[ 9.98019852e-01 -6.28388462e-02 2.76680212e-03 6.50649047e+01] [ 6.28385845e-02 9.98023687e-01 1.81511424e-04 5.71943862e+00] [-2.77274002e-03 -7.29007555e-06 9.99996156e-01 -4.29767806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92439141799998 meters 0.0549480461678263 Centerline is valid? [True, True] Translation: X:65.13, Y:5.72, Z:-0.43 [[ 9.97909811e-01 -6.44132434e-02 5.19062474e-03 6.51271761e+01] [ 6.44123505e-02 9.97923311e-01 3.39191851e-04 5.71901581e+00] [-5.20169387e-03 -4.14253639e-06 9.99986471e-01 -4.28034773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98439141799999 meters 0.05465610122697834 Centerline is valid? [True, True] Translation: X:65.19, Y:5.72, Z:-0.43 [[ 9.97697044e-01 -6.74528508e-02 7.12186888e-03 6.51891102e+01] [ 6.74512548e-02 9.97722463e-01 4.64328191e-04 5.71838928e+00] [-7.13696882e-03 1.71201281e-05 9.99974531e-01 -4.26110150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters 0.05541045537454575 Centerline is valid? [True, True] Translation: X:65.25, Y:5.71, Z:-0.42 [[ 9.97129957e-01 -7.52369677e-02 8.44083787e-03 6.52504132e+01] [ 7.52350128e-02 9.97165679e-01 5.49330555e-04 5.71234817e+00] [-8.45824379e-03 8.72925934e-05 9.99964225e-01 -4.24943235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters 0.05480827962540172 Centerline is valid? [True, True] Translation: X:65.31, Y:5.71, Z:-0.43 [[ 9.96695979e-01 -8.09375533e-02 6.79982159e-03 6.53111555e+01] [ 8.09364192e-02 9.96719168e-01 4.42260370e-04 5.70765176e+00] [-6.81330799e-03 1.09554078e-04 9.99976783e-01 -4.25586020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters 0.054784087303653556 Centerline is valid? [True, True] Translation: X:65.37, Y:5.71, Z:-0.43 [[ 9.96185581e-01 -8.72074156e-02 3.02569605e-03 6.53719289e+01] [ 8.72072200e-02 9.96190174e-01 1.96778380e-04 5.70502284e+00] [-3.03132921e-03 6.78347560e-05 9.99995403e-01 -4.31562785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22439141799998 meters 0.055779570531700184 Centerline is valid? [True, True] Translation: X:65.43, Y:5.70, Z:-0.43 [[ 9.96077469e-01 -8.84182437e-02 3.44821570e-03 6.54340538e+01] [ 8.84179960e-02 9.96083434e-01 2.24512399e-04 5.70311724e+00] [-3.45456153e-03 8.12525793e-05 9.99994030e-01 -4.34136903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28439141799998 meters 0.05609390684750869 Centerline is valid? [True, True] Translation: X:65.50, Y:5.70, Z:-0.43 [[ 9.96275943e-01 -8.61002084e-02 4.58250965e-03 6.54953634e+01] [ 8.60997502e-02 9.96286477e-01 2.97533374e-04 5.69878155e+00] [-4.59111008e-03 9.81275934e-05 9.99989456e-01 -4.33916644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34439141799999 meters 0.054146635232370774 Centerline is valid? [True, True] Translation: X:65.56, Y:5.71, Z:-0.43 [[ 9.96785186e-01 -7.98640812e-02 6.40485866e-03 6.55552982e+01] [ 7.98630583e-02 9.96805758e-01 4.15722710e-04 5.71084123e+00] [-6.41760130e-03 9.71253616e-05 9.99979402e-01 -4.30836898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters 0.05404970224044076 Centerline is valid? [True, True] Translation: X:65.62, Y:5.71, Z:-0.43 [[ 9.97231793e-01 -7.41627104e-02 5.35201479e-03 6.56154868e+01] [ 7.41619142e-02 9.97246153e-01 3.47339899e-04 5.71433366e+00] [-5.36303583e-03 5.05372717e-05 9.99985618e-01 -4.31349787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters 0.05453434270328032 Centerline is valid? [True, True] Translation: X:65.68, Y:5.72, Z:-0.44 [[ 9.97856222e-01 -6.53858438e-02 2.76614007e-03 6.56779906e+01] [ 6.53855971e-02 9.97860056e-01 1.79637386e-04 5.71958559e+00] [-2.77196643e-03 1.61343640e-06 9.99996158e-01 -4.35453863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters 0.054926199788964285 Centerline is valid? [True, True] Translation: X:65.74, Y:5.72, Z:-0.44 [[ 9.98176523e-01 -6.03530875e-02 1.06492571e-03 6.57400225e+01] [ 6.03530476e-02 9.98177091e-01 6.96315137e-05 5.72306651e+00] [-1.06718692e-03 -5.23303031e-06 9.99999431e-01 -4.38590082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58439141799998 meters 0.05500787193257533 Centerline is valid? [True, True] Translation: X:65.80, Y:5.73, Z:-0.44 [[ 9.98433343e-01 -5.59242473e-02 1.82715401e-03 6.58007681e+01] [ 5.59241237e-02 9.98435015e-01 1.18697028e-04 5.72924121e+00] [-1.83093259e-03 -1.63290836e-05 9.99998324e-01 -4.39406879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64439141799998 meters 0.055168334336704525 Centerline is valid? [True, True] Translation: X:65.86, Y:5.73, Z:-0.44 [[ 9.98345103e-01 -5.73635100e-02 4.05993757e-03 6.58627607e+01] [ 5.73629168e-02 9.98353358e-01 2.62486601e-04 5.72946818e+00] [-4.06830946e-03 -2.91623518e-05 9.99991724e-01 -4.35819995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70439141799999 meters 0.05494555867159059 Centerline is valid? [True, True] Translation: X:65.93, Y:5.72, Z:-0.43 [[ 9.97639598e-01 -6.84756415e-02 5.13028821e-03 6.59260172e+01] [ 6.84748453e-02 9.97652788e-01 3.30901425e-04 5.72009711e+00] [-5.14090502e-03 2.11753273e-05 9.99986785e-01 -4.33403606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters 0.055776952725178956 Centerline is valid? [True, True] Translation: X:65.99, Y:5.71, Z:-0.44 [[ 9.96406200e-01 -8.46890850e-02 1.56288801e-03 6.59870938e+01] [ 8.46890311e-02 9.96407426e-01 1.00744934e-04 5.70928750e+00] [-1.56580522e-03 3.19765943e-05 9.99998774e-01 -4.35775221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters 0.055805732392438294 Centerline is valid? [True, True] Translation: X:66.05, Y:5.71, Z:-0.44 [[ 9.95642844e-01 -9.32467944e-02 6.01660255e-04 6.60480107e+01] [ 9.32467879e-02 9.95643026e-01 3.88185878e-05 5.71054101e+00] [-6.02658546e-04 1.74534370e-05 9.99999818e-01 -4.37147107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters 0.054918610930777705 Centerline is valid? [True, True] Translation: X:66.11, Y:5.71, Z:-0.44 [[ 9.95065209e-01 -9.91973908e-02 2.26002430e-03 6.61085262e+01] [ 9.91973153e-02 9.95067772e-01 1.45711330e-04 5.71353547e+00] [-2.26333153e-03 7.91960681e-05 9.99997436e-01 -4.36946594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94439141799998 meters 0.0581724541765874 Centerline is valid? [True, True] Translation: X:66.17, Y:5.70, Z:-0.44 [[ 9.95018895e-01 -9.95731424e-02 4.75273024e-03 6.61709519e+01] [ 9.95728136e-02 9.95030231e-01 3.06341204e-04 5.70366632e+00] [-4.75961363e-03 1.68427436e-04 9.99988659e-01 -4.35168929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00439141799998 meters 0.0544230711946497 Centerline is valid? [True, True] Translation: X:66.23, Y:5.72, Z:-0.43 [[ 9.95088014e-01 -9.88107668e-02 6.02306871e-03 6.62326201e+01] [ 9.88102296e-02 9.95106220e-01 3.87417265e-04 5.72225820e+00] [-6.03187413e-03 2.09626526e-04 9.99981786e-01 -4.34673129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06439141799999 meters 0.055213722948042214 Centerline is valid? [True, True] Translation: X:66.29, Y:5.72, Z:-0.44 [[ 9.95420678e-01 -9.54114662e-02 5.85877738e-03 6.62924530e+01] [ 9.54109008e-02 9.95437903e-01 3.76561402e-04 5.72175126e+00] [-5.86797734e-03 1.84154221e-04 9.99982766e-01 -4.35939272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12439141799999 meters 0.05638717468395344 Centerline is valid? [True, True] Translation: X:66.35, Y:5.72, Z:-0.44 [[ 9.95767654e-01 -9.17278882e-02 5.72479339e-03 6.63518987e+01] [ 9.17272875e-02 9.95784098e-01 3.67962120e-04 5.72484712e+00] [-5.73441061e-03 1.58714992e-04 9.99983546e-01 -4.36310468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters 0.05631309287376308 Centerline is valid? [True, True] Translation: X:66.41, Y:5.73, Z:-0.44 [[ 9.96411523e-01 -8.45166351e-02 4.58433252e-03 6.64124330e+01] [ 8.45161734e-02 9.96422064e-01 2.94681191e-04 5.73260963e+00] [-4.59283553e-03 9.38265074e-05 9.99989448e-01 -4.38854521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters 0.0551650653211047 Centerline is valid? [True, True] Translation: X:66.47, Y:5.74, Z:-0.44 [[ 9.97325024e-01 -7.30844378e-02 1.20909796e-03 6.64715735e+01] [ 7.30843973e-02 9.97325757e-01 7.77110190e-05 5.74320170e+00] [-1.21154401e-03 1.08630521e-05 9.99999266e-01 -4.44257852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30439141799998 meters 0.055065198638182496 Centerline is valid? [True, True] Translation: X:66.53, Y:5.76, Z:-0.44 [[ 9.97965138e-01 -6.37549680e-02 9.42504689e-04 6.65321627e+01] [ 6.37549392e-02 9.97965583e-01 6.06567454e-05 5.75904316e+00] [-9.44454410e-04 -4.43988197e-07 9.99999554e-01 -4.43570583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36439141799998 meters 0.05509616550906997 Centerline is valid? [True, True] Translation: X:66.59, Y:5.77, Z:-0.44 [[ 9.98569077e-01 -5.33824990e-02 3.17923889e-03 6.65941610e+01] [ 5.33821187e-02 9.98574137e-01 2.04415382e-04 5.76913375e+00] [-3.18561793e-03 -3.44083717e-05 9.99994925e-01 -4.39790628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42439141799998 meters 0.05552664959822286 Centerline is valid? [True, True] Translation: X:66.66, Y:5.77, Z:-0.44 [[ 9.98663004e-01 -5.16084376e-02 2.96199389e-03 6.66553885e+01] [ 5.16080993e-02 9.98667396e-01 1.90573234e-04 5.77483448e+00] [-2.96788191e-03 -3.74555636e-05 9.99995595e-01 -4.39815231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48439141799999 meters 0.056107960189426785 Centerline is valid? [True, True] Translation: X:66.72, Y:5.78, Z:-0.44 [[ 9.98616348e-01 -5.25490518e-02 -1.99676782e-03 6.67164978e+01] [ 5.25489027e-02 9.98618344e-01 -1.27102077e-04 5.77522577e+00] [ 2.00068807e-03 2.19982536e-05 9.99997998e-01 -4.44952710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters 0.05528405242508962 Centerline is valid? [True, True] Translation: X:66.78, Y:5.78, Z:-0.45 [[ 9.98587003e-01 -5.30851769e-02 -2.44174598e-03 6.67787891e+01] [ 5.30849544e-02 9.98589988e-01 -1.55875158e-04 5.78027381e+00] [ 2.44657775e-03 2.60349330e-05 9.99997007e-01 -4.47377372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters 0.055488259136204685 Centerline is valid? [True, True] Translation: X:66.84, Y:5.78, Z:-0.44 [[ 9.98565752e-01 -5.34747868e-02 2.62406639e-03 6.68403009e+01] [ 5.34745295e-02 9.98569200e-01 1.68166431e-04 5.78210582e+00] [-2.62930453e-03 -2.76045231e-05 9.99996543e-01 -4.44433475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66439141799998 meters 0.05567728849710339 Centerline is valid? [True, True] Translation: X:66.90, Y:5.78, Z:-0.44 [[ 9.98293048e-01 -5.77952423e-02 8.40838868e-03 6.69021841e+01] [ 5.77927736e-02 9.98328457e-01 5.36477090e-04 5.77842941e+00] [-8.42533952e-03 -4.96172455e-05 9.99964505e-01 -4.39967635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72439141799998 meters 0.05487498908468437 Centerline is valid? [True, True] Translation: X:66.96, Y:5.77, Z:-0.44 [[ 9.97934467e-01 -6.38677029e-02 6.90775103e-03 6.69647615e+01] [ 6.38661859e-02 9.97958374e-01 4.40195984e-04 5.77469494e+00] [-6.92176229e-03 1.88496694e-06 9.99976044e-01 -4.40322560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78439141799998 meters 0.05433333922319387 Centerline is valid? [True, True] Translation: X:67.03, Y:5.78, Z:-0.44 [[ 9.97862824e-01 -6.50428208e-02 6.26226426e-03 6.70271037e+01] [ 6.50415988e-02 9.97882474e-01 3.98813505e-04 5.77661654e+00] [-6.27494370e-03 9.34650955e-06 9.99980312e-01 -4.41485597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84439141799999 meters 0.05536069282507115 Centerline is valid? [True, True] Translation: X:67.09, Y:5.78, Z:-0.44 [[ 9.97808425e-01 -6.60578773e-02 3.83456361e-03 6.70887979e+01] [ 6.60574280e-02 9.97815793e-01 2.43854542e-04 5.77858067e+00] [-3.84229664e-03 9.98129300e-06 9.99992618e-01 -4.44579474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters 0.05528745508449195 Centerline is valid? [True, True] Translation: X:67.15, Y:5.78, Z:-0.45 [[ 9.97776594e-01 -6.66460522e-02 -4.15297730e-04 6.71502029e+01] [ 6.66460473e-02 9.97776680e-01 -2.56819706e-05 5.77845880e+00] [ 4.16085992e-04 -2.05308303e-06 9.99999913e-01 -4.50319732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters 0.05590066216470199 Centerline is valid? [True, True] Translation: X:67.21, Y:5.78, Z:-0.45 [[ 9.97525517e-01 -7.03050921e-02 -1.94450351e-04 6.72120762e+01] [ 7.03050912e-02 9.97525536e-01 -1.16354555e-05 5.77950009e+00] [ 1.94787222e-04 -2.06418590e-06 9.99999981e-01 -4.48208813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters 0.055210397151589215 Centerline is valid? [True, True] Translation: X:67.27, Y:5.78, Z:-0.45 [[ 9.97275533e-01 -7.37659885e-02 -3.01617271e-04 6.72742835e+01] [ 7.37659864e-02 9.97275578e-01 -1.83800376e-05 5.78065814e+00] [ 3.02151360e-04 -3.91913369e-06 9.99999954e-01 -4.47448460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08439141799998 meters 0.05578177736013256 Centerline is valid? [True, True] Translation: X:67.33, Y:5.78, Z:-0.45 [[ 9.96729791e-01 -8.07864722e-02 -1.80800587e-03 6.73348966e+01] [ 8.07863979e-02 9.96731431e-01 -1.14228079e-04 5.77978411e+00] [ 1.81132436e-03 -3.22077520e-05 9.99998359e-01 -4.47358090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14439141799998 meters 0.05720061892284054 Centerline is valid? [True, True] Translation: X:67.39, Y:5.77, Z:-0.45 [[ 9.95945660e-01 -8.99380523e-02 -1.84088066e-03 6.73948070e+01] [ 8.99379908e-02 9.95947360e-01 -1.16370604e-04 5.77282775e+00] [ 1.84388638e-03 -4.96663097e-05 9.99998299e-01 -4.48716945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20439141799999 meters 0.056900542868159945 Centerline is valid? [True, True] Translation: X:67.46, Y:5.78, Z:-0.45 [[ 9.95319865e-01 -9.66343345e-02 -4.13962673e-04 6.74557279e+01] [ 9.66343320e-02 9.95319951e-01 -2.61035723e-05 5.77628369e+00] [ 4.14547809e-04 -1.40216023e-05 9.99999914e-01 -4.47072597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters 0.05896873651974656 Centerline is valid? [True, True] Translation: X:67.52, Y:5.77, Z:-0.45 [[ 9.94238501e-01 -1.07152514e-01 2.85347395e-03 6.75160323e+01] [ 1.07152437e-01 9.94242587e-01 1.80293474e-04 5.76652462e+00] [-2.85636422e-03 1.26501975e-04 9.99995913e-01 -4.46676569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters 0.05749212456503275 Centerline is valid? [True, True] Translation: X:67.58, Y:5.77, Z:-0.44 [[ 9.93383191e-01 -1.14795829e-01 3.42825832e-03 6.75760616e+01] [ 1.14795763e-01 9.93389091e-01 2.16638302e-04 5.77359691e+00] [-3.43046359e-03 1.78344681e-04 9.99994100e-01 -4.43599737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters 0.05623756981791823 Centerline is valid? [True, True] Translation: X:67.64, Y:5.78, Z:-0.45 [[ 9.93235870e-01 -1.16112433e-01 -6.39423166e-04 6.76366506e+01] [ 1.16112431e-01 9.93236075e-01 -4.03506762e-05 5.78428295e+00] [ 6.39783371e-04 -3.41672394e-05 9.99999795e-01 -4.45595888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44439141799998 meters 0.05651891598378206 Centerline is valid? [True, True] Translation: X:67.70, Y:5.79, Z:-0.45 [[ 9.93662167e-01 -1.12318056e-01 -4.48905361e-03 6.76958356e+01] [ 1.12317918e-01 9.93672282e-01 -2.83698427e-04 5.78851459e+00] [ 4.49251260e-03 -2.22300761e-04 9.99989884e-01 -4.49090651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50439141799998 meters 0.05713003890279227 Centerline is valid? [True, True] Translation: X:67.76, Y:5.79, Z:-0.45 [[ 9.94347797e-01 -1.06156775e-01 -1.78818710e-03 6.77550935e+01] [ 1.06156743e-01 9.94349402e-01 -1.12999902e-04 5.79149305e+00] [ 1.79007848e-03 -7.74669153e-05 9.99998395e-01 -4.49042531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56439141799999 meters 0.05652803103494899 Centerline is valid? [True, True] Translation: X:67.81, Y:5.82, Z:-0.44 [[ 9.96209780e-01 -8.69644279e-02 1.80649638e-03 6.78142423e+01] [ 8.69643637e-02 9.96211417e-01 1.14163505e-04 5.81608777e+00] [-1.80958048e-03 4.33700080e-05 9.99998362e-01 -4.43324824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters 0.05668192100189791 Centerline is valid? [True, True] Translation: X:67.87, Y:5.83, Z:-0.44 [[ 9.97282049e-01 -7.36735831e-02 8.47223490e-04 6.78748346e+01] [ 7.36735642e-02 9.97282409e-01 5.35548809e-05 5.82910311e+00] [-8.48866663e-04 9.00865282e-06 9.99999640e-01 -4.42050953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters 0.056022979305597284 Centerline is valid? [True, True] Translation: X:67.94, Y:5.84, Z:-0.45 [[ 9.98070023e-01 -6.20927511e-02 -8.47672043e-04 6.79355732e+01] [ 6.20927282e-02 9.98070383e-01 -5.33838170e-05 5.84126168e+00] [ 8.49351109e-04 6.46517736e-07 9.99999639e-01 -4.46797991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters 0.05632338517806226 Centerline is valid? [True, True] Translation: X:68.00, Y:5.84, Z:-0.45 [[ 9.98045032e-01 -6.24986800e-02 -1.72815368e-04 6.79962337e+01] [ 6.24986792e-02 9.98045047e-01 -1.02429355e-05 5.84439161e+00] [ 1.73117692e-04 -5.77821372e-07 9.99999985e-01 -4.48331775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80439141799998 meters 0.05594023210288671 Centerline is valid? [True, True] Translation: X:68.06, Y:5.85, Z:-0.45 [[ 9.97959287e-01 -6.38432386e-02 1.14146578e-03 6.80582473e+01] [ 6.38431979e-02 9.97959940e-01 7.21216415e-05 5.84760448e+00] [-1.14374160e-03 9.00363701e-07 9.99999346e-01 -4.45869731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86439141799998 meters 0.05539593078642747 Centerline is valid? [True, True] Translation: X:68.12, Y:5.85, Z:-0.44 [[ 9.97695581e-01 -6.78161217e-02 2.12174439e-03 6.81203869e+01] [ 6.78159904e-02 9.97697837e-01 1.33862421e-04 5.85006585e+00] [-2.12593782e-03 1.03342517e-05 9.99997740e-01 -4.44143742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92439141799998 meters 0.056486115493347824 Centerline is valid? [True, True] Translation: X:68.18, Y:5.85, Z:-0.45 [[ 9.97180351e-01 -7.49641504e-02 -3.42387559e-03 6.81802680e+01] [ 7.49638529e-02 9.97186229e-01 -2.15321698e-04 5.84795400e+00] [ 3.43038300e-03 -4.19523398e-05 9.99994115e-01 -4.47604113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98439141799999 meters 0.05718349093037723 Centerline is valid? [True, True] Translation: X:68.24, Y:5.85, Z:-0.45 [[ 9.96748013e-01 -8.05811595e-02 2.74484102e-04 6.82405092e+01] [ 8.05811578e-02 9.96748051e-01 1.72764953e-05 5.84520402e+00] [-2.74983654e-04 4.89793440e-06 9.99999962e-01 -4.45194348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters 0.056241019637477616 Centerline is valid? [True, True] Translation: X:68.30, Y:5.85, Z:-0.44 [[ 9.96693392e-01 -8.11168344e-02 4.72660892e-03 6.83014209e+01] [ 8.11163350e-02 9.96704596e-01 2.97579475e-04 5.84995452e+00] [-4.73517154e-03 8.68096965e-05 9.99988785e-01 -4.39152997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters 0.05695066017797193 Centerline is valid? [True, True] Translation: X:68.36, Y:5.85, Z:-0.44 [[ 9.96793627e-01 -7.99935055e-02 1.87187262e-03 6.83630238e+01] [ 7.99934247e-02 9.96795384e-01 1.18115174e-04 5.85155731e+00] [-1.87532243e-03 3.20010485e-05 9.99998241e-01 -4.42487424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16439141799998 meters 0.05720449380201582 Centerline is valid? [True, True] Translation: X:68.43, Y:5.85, Z:-0.44 [[ 9.96723818e-01 -8.08591945e-02 1.84969296e-03 6.84251086e+01] [ 8.08591180e-02 9.96725534e-01 1.16250937e-04 5.85118051e+00] [-1.85303616e-03 3.36944632e-05 9.99998283e-01 -4.44122515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22439141799998 meters 0.0571452633686787 Centerline is valid? [True, True] Translation: X:68.49, Y:5.85, Z:-0.44 [[ 9.96658611e-01 -8.16165279e-02 3.21810197e-03 6.84876197e+01] [ 8.16163007e-02 9.96663804e-01 2.02092770e-04 5.85104421e+00] [-3.22385987e-03 6.12320786e-05 9.99994801e-01 -4.40978735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28439141799998 meters 0.05721311151280138 Centerline is valid? [True, True] Translation: X:68.55, Y:5.86, Z:-0.44 [[ 9.97049638e-01 -7.67570088e-02 -6.17629321e-04 6.85485499e+01] [ 7.67569997e-02 9.97049829e-01 -3.84909581e-05 5.85766110e+00] [ 6.18761660e-04 -9.02997770e-06 9.99999809e-01 -4.44602941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34439141799999 meters 0.05662642445624658 Centerline is valid? [True, True] Translation: X:68.61, Y:5.86, Z:-0.45 [[ 9.97545653e-01 -6.99996289e-02 -1.65016811e-03 6.86099673e+01] [ 6.99995541e-02 9.97547017e-01 -1.03094027e-04 5.86291394e+00] [ 1.65333682e-03 -1.26700336e-05 9.99998633e-01 -4.47049811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters 0.05774903027638842 Centerline is valid? [True, True] Translation: X:68.67, Y:5.87, Z:-0.44 [[ 9.98344750e-01 -5.75130438e-02 -9.46869238e-05 6.86705253e+01] [ 5.75130435e-02 9.98344755e-01 -5.26697306e-06 5.87231930e+00] [ 9.48331133e-05 -1.87478259e-07 9.99999996e-01 -4.44740734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters 0.05687009056594599 Centerline is valid? [True, True] Translation: X:68.73, Y:5.88, Z:-0.45 [[ 9.98613492e-01 -5.26408452e-02 -1.86179403e-04 6.87322893e+01] [ 5.26408440e-02 9.98613510e-01 -1.14583846e-05 5.87520844e+00] [ 1.86524446e-04 1.64185652e-06 9.99999983e-01 -4.45976150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters 0.057890314044849935 Centerline is valid? [True, True] Translation: X:68.79, Y:5.87, Z:-0.45 [[ 9.98572517e-01 -5.33717804e-02 2.09305607e-03 6.87935806e+01] [ 5.33716228e-02 9.98574711e-01 1.31146832e-04 5.87325839e+00] [-2.09707240e-03 -1.92498228e-05 9.99997801e-01 -4.45081993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58439141799998 meters 0.05817378788400817 Centerline is valid? [True, True] Translation: X:68.86, Y:5.87, Z:-0.45 [[ 9.98250384e-01 -5.91138489e-02 -1.31292299e-03 6.88558413e+01] [ 5.91137927e-02 9.98251247e-01 -8.16007160e-05 5.87142525e+00] [ 1.31545074e-03 3.84608886e-06 9.99999135e-01 -4.47174607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64439141799998 meters 0.057312919522239436 Centerline is valid? [True, True] Translation: X:68.92, Y:5.87, Z:-0.45 [[ 9.98029844e-01 -6.26909046e-02 -2.50621003e-03 6.89177110e+01] [ 6.26907113e-02 9.98032991e-01 -1.55693268e-04 5.87057230e+00] [ 2.51104085e-03 -1.72956176e-06 9.99996847e-01 -4.48227777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70439141799999 meters 0.05759640868165506 Centerline is valid? [True, True] Translation: X:68.98, Y:5.87, Z:-0.45 [[ 9.97836205e-01 -6.57486311e-02 -1.62026927e-04 6.89786997e+01] [ 6.57486304e-02 9.97836218e-01 -9.67900264e-06 5.87010338e+00] [ 1.62312717e-04 -9.94989267e-07 9.99999987e-01 -4.46046484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters 0.05714221100889129 Centerline is valid? [True, True] Translation: X:69.04, Y:5.87, Z:-0.44 [[ 9.97531281e-01 -7.02069752e-02 1.52429676e-03 6.90410372e+01] [ 7.02069119e-02 9.97532446e-01 9.50129749e-05 5.86962961e+00] [-1.52720605e-03 1.22377537e-05 9.99998834e-01 -4.44699562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters 0.05870309246246896 Centerline is valid? [True, True] Translation: X:69.10, Y:5.86, Z:-0.45 [[ 9.96767098e-01 -8.03451616e-02 -9.01922920e-05 6.91010664e+01] [ 8.03451614e-02 9.96767102e-01 -5.69568936e-06 5.85702703e+00] [ 9.03583305e-05 -1.56923851e-06 9.99999996e-01 -4.48972986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters 0.05906968101958969 Centerline is valid? [True, True] Translation: X:69.16, Y:5.86, Z:-0.45 [[ 9.96014050e-01 -8.91265729e-02 3.53067751e-03 6.91618081e+01] [ 8.91263540e-02 9.96020303e-01 2.19584582e-04 5.85543680e+00] [-3.53619731e-03 9.59670851e-05 9.99993743e-01 -4.45390930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94439141799998 meters 0.05901250318883068 Centerline is valid? [True, True] Translation: X:69.22, Y:5.85, Z:-0.44 [[ 9.95202438e-01 -9.77424520e-02 4.30356760e-03 6.92222851e+01] [ 9.77422076e-02 9.95211731e-01 2.67581246e-04 5.85402319e+00] [-4.30911501e-03 1.54342690e-04 9.99990704e-01 -4.43446236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00439141799998 meters 0.05848194686222045 Centerline is valid? [True, True] Translation: X:69.28, Y:5.86, Z:-0.45 [[ 9.94814083e-01 -1.01709290e-01 -3.99916275e-04 6.92833847e+01] [ 1.01709289e-01 9.94814164e-01 -2.47355832e-05 5.85814073e+00] [ 4.00358213e-04 -1.60678934e-05 9.99999920e-01 -4.49611251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06439141799999 meters 0.0602123753286091 Centerline is valid? [True, True] Translation: X:69.34, Y:5.85, Z:-0.45 [[ 9.94580395e-01 -1.03883802e-01 4.24185515e-03 6.93444395e+01] [ 1.03883620e-01 9.94589425e-01 2.63685614e-04 5.84907110e+00] [-4.24629694e-03 1.78402728e-04 9.99990969e-01 -4.47739303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters 0.060347660163139104 Centerline is valid? [True, True] Translation: X:69.40, Y:5.86, Z:-0.44 [[ 9.94209561e-01 -1.07356057e-01 4.69311502e-03 6.94046354e+01] [ 1.07355874e-01 9.94220615e-01 2.91690128e-04 5.85673644e+00] [-4.69730641e-03 2.13832350e-04 9.99988945e-01 -4.44972082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters 0.057329231152340995 Centerline is valid? [True, True] Translation: X:69.47, Y:5.87, Z:-0.45 [[ 9.93618572e-01 -1.12792119e-01 2.66137230e-04 6.94650411e+01] [ 1.12792119e-01 9.93618608e-01 1.65631204e-05 5.86823325e+00] [-2.66307094e-04 1.35607581e-05 9.99999964e-01 -4.52061150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters 0.061193007954450165 Centerline is valid? [True, True] Translation: X:69.53, Y:5.86, Z:-0.45 [[ 9.93428713e-01 -1.14404402e-01 3.32029117e-03 6.95260728e+01] [ 1.14404350e-01 9.93434247e-01 2.06336348e-04 5.85585640e+00] [-3.32209674e-03 1.74875300e-04 9.99994467e-01 -4.51413795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30439141799998 meters 0.05981509419972209 Centerline is valid? [True, True] Translation: X:69.59, Y:5.87, Z:-0.45 [[ 9.93798317e-01 -1.11141533e-01 3.53040492e-03 6.95857133e+01] [ 1.11141453e-01 9.93804573e-01 2.19410903e-04 5.86917967e+00] [-3.53291822e-03 1.74324147e-04 9.99993744e-01 -4.48002178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36439141799998 meters 0.05676293861728645 Centerline is valid? [True, True] Translation: X:69.64, Y:5.89, Z:-0.45 [[ 9.94661452e-01 -1.03185576e-01 -1.15424197e-03 6.96448406e+01] [ 1.03185562e-01 9.94662121e-01 -7.17129541e-05 5.89499903e+00] [ 1.15548050e-03 -4.77709952e-05 9.99999331e-01 -4.50739530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42439141799998 meters 0.05859844071772141 Centerline is valid? [True, True] Translation: X:69.70, Y:5.89, Z:-0.46 [[ 9.95119409e-01 -9.86537921e-02 -2.18901109e-03 6.97044054e+01] [ 9.86537311e-02 9.95121813e-01 -1.36088456e-04 5.88922025e+00] [ 2.19175833e-03 -8.05298472e-05 9.99997595e-01 -4.55700536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48439141799999 meters 0.05711606967589314 Centerline is valid? [True, True] Translation: X:69.76, Y:5.91, Z:-0.45 [[ 9.95979755e-01 -8.95565918e-02 1.98593890e-03 6.97636006e+01] [ 8.95565236e-02 9.95981734e-01 1.23410926e-04 5.90850924e+00] [-1.98901113e-03 5.49390004e-05 9.99998020e-01 -4.48697058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters 0.05786557218736085 Centerline is valid? [True, True] Translation: X:69.82, Y:5.91, Z:-0.45 [[ 9.96672785e-01 -8.14962467e-02 1.31221576e-03 6.98233055e+01] [ 8.14962099e-02 9.96673648e-01 8.15702765e-05 5.91485175e+00] [-1.31449854e-03 2.56417361e-05 9.99999136e-01 -4.50769858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters 0.057281426077902126 Centerline is valid? [True, True] Translation: X:69.88, Y:5.93, Z:-0.45 [[ 9.97475648e-01 -7.08243853e-02 5.12227286e-03 6.98832499e+01] [ 7.08236845e-02 9.97488799e-01 3.18304497e-04 5.92514322e+00] [-5.13195352e-03 4.52772527e-05 9.99986830e-01 -4.51084940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66439141799998 meters 0.05772866356835342 Centerline is valid? [True, True] Translation: X:69.94, Y:5.94, Z:-0.45 [[ 9.98027036e-01 -6.23398772e-02 7.46822540e-03 6.99444209e+01] [ 6.23381500e-02 9.98054978e-01 4.64046869e-04 5.93751911e+00] [-7.48262817e-03 2.42403458e-06 9.99972005e-01 -4.46242020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72439141799998 meters 0.057414839652844746 Centerline is valid? [True, True] Translation: X:70.01, Y:5.95, Z:-0.45 [[ 9.98179638e-01 -6.03105615e-02 2.16749200e-04 7.00052582e+01] [ 6.03105599e-02 9.98179661e-01 1.38001253e-05 5.94664997e+00] [-2.17186937e-04 -7.02738422e-07 9.99999976e-01 -4.50128358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78439141799998 meters 0.05746660824558831 Centerline is valid? [True, True] Translation: X:70.07, Y:5.94, Z:-0.46 [[ 9.97883519e-01 -6.49246767e-02 -3.64273585e-03 7.00677965e+01] [ 6.49242856e-02 9.97890167e-01 -2.25645035e-04 5.94304616e+00] [ 3.64970022e-03 -1.13345612e-05 9.99993340e-01 -4.57504369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84439141799999 meters 0.05735101043183738 Centerline is valid? [True, True] Translation: X:70.13, Y:5.94, Z:-0.45 [[ 9.97018772e-01 -7.69938922e-02 5.05061558e-03 7.01285432e+01] [ 7.69932933e-02 9.97031562e-01 3.13209513e-04 5.93701077e+00] [-5.05973836e-03 7.65877620e-05 9.99987197e-01 -4.49360105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters 0.058677375209515006 Centerline is valid? [True, True] Translation: X:70.19, Y:5.94, Z:-0.44 [[ 9.96496136e-01 -8.33908707e-02 6.43530393e-03 7.01892117e+01] [ 8.33900320e-02 9.96516906e-01 3.99012074e-04 5.93697380e+00] [-6.44616313e-03 1.39026210e-04 9.99979214e-01 -4.44865588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters 0.05751341812391733 Centerline is valid? [True, True] Translation: X:70.25, Y:5.94, Z:-0.46 [[ 9.95651464e-01 -9.31245091e-02 -2.44704205e-03 7.02494497e+01] [ 9.31244173e-02 9.95654468e-01 -1.51651248e-04 5.93985201e+00] [ 2.45053080e-03 -7.68875780e-05 9.99996994e-01 -4.56050768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02439141799998 meters 0.05864786935841126 Centerline is valid? [True, True] Translation: X:70.31, Y:5.93, Z:-0.46 [[ 9.94898729e-01 -1.00868605e-01 -1.42926398e-03 7.03099646e+01] [ 1.00868582e-01 9.94899754e-01 -8.85534859e-05 5.92863410e+00] [ 1.43090665e-03 -5.60660801e-05 9.99998975e-01 -4.59208211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08439141799998 meters 0.05733698133466223 Centerline is valid? [True, True] Translation: X:70.37, Y:5.94, Z:-0.45 [[ 9.94823926e-01 -1.01612332e-01 5.38336638e-04 7.03716008e+01] [ 1.01612329e-01 9.94824072e-01 3.35894573e-05 5.94481786e+00] [-5.38963349e-04 2.12860436e-05 9.99999855e-01 -4.54700534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14439141799998 meters 0.057535895013793456 Centerline is valid? [True, True] Translation: X:70.43, Y:5.95, Z:-0.46 [[ 9.95235242e-01 -9.75024137e-02 -3.04981729e-04 7.04321818e+01] [ 9.75024125e-02 9.95235288e-01 -1.88845411e-05 5.95192712e+00] [ 3.05369867e-04 -1.09418935e-05 9.99999953e-01 -4.57416706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20439141799999 meters 0.059743592921090355 Centerline is valid? [True, True] Translation: X:70.49, Y:5.95, Z:-0.45 [[ 9.96014313e-01 -8.90621059e-02 4.84041625e-03 7.04927736e+01] [ 8.90616998e-02 9.96026066e-01 2.99824379e-04 5.94602807e+00] [-4.84788374e-03 1.32466326e-04 9.99988240e-01 -4.54368804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters 0.05807732845250927 Centerline is valid? [True, True] Translation: X:70.55, Y:5.97, Z:-0.45 [[ 9.96767654e-01 -8.01089938e-02 6.06575101e-03 7.05522952e+01] [ 8.01081903e-02 9.96786104e-01 3.75699417e-04 5.96506622e+00] [-6.07635322e-03 1.11431310e-04 9.99981533e-01 -4.48620860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters 0.05699091081350534 Centerline is valid? [True, True] Translation: X:70.61, Y:5.98, Z:-0.45 [[ 9.97602102e-01 -6.92050118e-02 -8.44290389e-04 7.06118337e+01] [ 6.92049924e-02 9.97602459e-01 -5.22233651e-05 5.98312025e+00] [ 8.45880287e-04 -6.33097120e-06 9.99999642e-01 -4.54183276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters 0.057282380512895824 Centerline is valid? [True, True] Translation: X:70.67, Y:5.99, Z:-0.46 [[ 9.97803089e-01 -6.61676140e-02 -3.29283869e-03 7.06748136e+01] [ 6.61673032e-02 9.97808522e-01 -2.03357847e-04 5.98681833e+00] [ 3.29907821e-03 -1.49671679e-05 9.99994558e-01 -4.59185108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44439141799998 meters 0.056956438553982976 Centerline is valid? [True, True] Translation: X:70.74, Y:5.99, Z:-0.46 [[ 9.97831542e-01 -6.58143511e-02 -8.27202531e-04 7.07363478e+01] [ 6.58143315e-02 9.97831885e-01 -5.09470547e-05 5.99093500e+00] [ 8.28762109e-04 -3.60520340e-06 9.99999657e-01 -4.59823665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50439141799998 meters 0.055895628913672564 Centerline is valid? [True, True] Translation: X:70.80, Y:6.00, Z:-0.45 [[ 9.97786485e-01 -6.64985327e-02 2.76029199e-04 7.07984931e+01] [ 6.64985305e-02 9.97786523e-01 1.72552649e-05 5.99869612e+00] [-2.76565664e-04 1.13846601e-06 9.99999962e-01 -4.54775706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56439141799999 meters 0.057466788394795784 Centerline is valid? [True, True] Translation: X:70.86, Y:6.00, Z:-0.46 [[ 9.97599796e-01 -6.92239427e-02 -1.64096962e-03 7.08596377e+01] [ 6.92238702e-02 9.97601146e-01 -1.00962832e-04 5.99701925e+00] [ 1.64402222e-03 -1.28737679e-05 9.99998649e-01 -4.57612951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters 0.05762499853102307 Centerline is valid? [True, True] Translation: X:70.92, Y:6.00, Z:-0.46 [[ 9.97439120e-01 -7.14670010e-02 -2.76933980e-03 7.09220587e+01] [ 7.14668027e-02 9.97442964e-01 -1.70629387e-04 5.99833524e+00] [ 2.77445287e-03 -2.77234348e-05 9.99996151e-01 -4.59608850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters 0.05748815582908246 Centerline is valid? [True, True] Translation: X:70.98, Y:6.00, Z:-0.46 [[ 9.97052685e-01 -7.66001236e-02 -4.28548130e-03 7.09823835e+01] [ 7.65996945e-02 9.97061892e-01 -2.64412884e-04 5.99594216e+00] [ 4.29314415e-03 -6.46329826e-05 9.99990782e-01 -4.62511580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters 0.05833251219092429 Centerline is valid? [True, True] Translation: X:71.05, Y:6.00, Z:-0.45 [[ 9.96911378e-01 -7.84983493e-02 2.39045916e-03 7.10451033e+01] [ 7.84982209e-02 9.96914243e-01 1.47627966e-04 5.99674646e+00] [-2.39467134e-03 4.04747919e-05 9.99997132e-01 -4.53043090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80439141799998 meters 0.05727485781891405 Centerline is valid? [True, True] Translation: X:71.11, Y:6.01, Z:-0.46 [[ 9.97618728e-01 -6.89589705e-02 -1.23851741e-03 7.11055288e+01] [ 6.89589289e-02 9.97619497e-01 -7.62573926e-05 6.00930970e+00] [ 1.24082775e-03 -9.33103135e-06 9.99999230e-01 -4.56840586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86439141799998 meters 0.05852877404223343 Centerline is valid? [True, True] Translation: X:71.17, Y:6.02, Z:-0.46 [[ 9.98021728e-01 -6.28696439e-02 -1.95485051e-04 7.11672352e+01] [ 6.28696429e-02 9.98021747e-01 -1.16469456e-05 6.01519267e+00] [ 1.95830571e-04 -6.66170576e-07 9.99999981e-01 -4.56187138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92439141799998 meters 0.05763404881482051 Centerline is valid? [True, True] Translation: X:71.23, Y:6.02, Z:-0.45 [[ 9.98448245e-01 -5.55809402e-02 3.44391022e-03 7.12292769e+01] [ 5.55805386e-02 9.98454185e-01 2.12300245e-04 6.02200601e+00] [-3.45038642e-03 -2.05564222e-05 9.99994047e-01 -4.54206744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98439141799999 meters 0.05754214592128058 Centerline is valid? [True, True] Translation: X:71.29, Y:6.03, Z:-0.45 [[ 9.98538671e-01 -5.40254785e-02 1.33011869e-03 7.12905571e+01] [ 5.40254171e-02 9.98539557e-01 8.20779835e-05 6.02682320e+00] [-1.33261043e-03 -1.00978234e-05 9.99999112e-01 -4.54502400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters 0.05794565454976837 Centerline is valid? [True, True] Translation: X:71.35, Y:6.02, Z:-0.46 [[ 9.98351993e-01 -5.72512500e-02 -3.94870753e-03 7.13528843e+01] [ 5.72507423e-02 9.98359802e-01 -2.41597172e-04 6.01960972e+00] [ 3.95606261e-03 1.51325806e-05 9.99992175e-01 -4.59381246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters 0.05784971686602792 Centerline is valid? [True, True] Translation: X:71.42, Y:6.02, Z:-0.46 [[ 9.97952889e-01 -6.39288403e-02 -1.77065995e-03 7.14150945e+01] [ 6.39287488e-02 9.97954460e-01 -1.08285937e-04 6.01505040e+00] [ 1.77396059e-03 -5.13181209e-06 9.99998427e-01 -4.61813575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16439141799998 meters 0.058140810320766914 Centerline is valid? [True, True] Translation: X:71.48, Y:6.02, Z:-0.46 [[ 9.97590148e-01 -6.93161443e-02 -3.02785426e-03 7.14771811e+01] [ 6.93159012e-02 9.97594743e-01 -1.85287196e-04 6.01742242e+00] [ 3.03341489e-03 -2.50377653e-05 9.99995399e-01 -4.59129469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22439141799998 meters 0.05853435252770252 Centerline is valid? [True, True] Translation: X:71.54, Y:6.01, Z:-0.46 [[ 9.97197767e-01 -7.46632956e-02 -4.69093867e-03 7.15381108e+01] [ 7.46627702e-02 9.97208799e-01 -2.87281257e-04 6.01325440e+00] [ 4.69929468e-03 -6.37622476e-05 9.99988956e-01 -4.63567903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28439141799998 meters 0.059396367440243604 Centerline is valid? [True, True] Translation: X:71.60, Y:6.00, Z:-0.45 [[ 9.96541523e-01 -8.30086902e-02 3.81436161e-03 7.15992881e+01] [ 8.30084036e-02 9.96548820e-01 2.33655957e-04 6.00367354e+00] [-3.82059303e-03 8.37762042e-05 9.99992698e-01 -4.54617297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34439141799999 meters 0.05787593475113244 Centerline is valid? [True, True] Translation: X:71.66, Y:6.02, Z:-0.45 [[ 9.96233392e-01 -8.66554908e-02 3.13923423e-03 7.16589154e+01] [ 8.66553148e-02 9.96238335e-01 1.92283134e-04 6.02474561e+00] [-3.14408787e-03 8.04724509e-05 9.99995054e-01 -4.50043240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters 0.05880290798081566 Centerline is valid? [True, True] Translation: X:71.72, Y:6.02, Z:-0.46 [[ 9.95999401e-01 -8.93574130e-02 -6.68099646e-04 7.17201363e+01] [ 8.93574057e-02 9.95999625e-01 -4.08036440e-05 6.01703458e+00] [ 6.69073104e-04 -1.90592461e-05 9.99999776e-01 -4.55636417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters 0.05823695520715682 Centerline is valid? [True, True] Translation: X:71.78, Y:6.02, Z:-0.45 [[ 9.95909022e-01 -9.03497138e-02 1.46589646e-03 7.17826721e+01] [ 9.03496788e-02 9.95910100e-01 9.02654875e-05 6.01912828e+00] [-1.46805655e-03 4.25470606e-05 9.99998921e-01 -4.54540902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52439141799998 meters 0.05776823607643195 Centerline is valid? [True, True] Translation: X:71.84, Y:6.03, Z:-0.45 [[ 9.96252884e-01 -8.64879030e-02 -1.83373749e-04 7.18430480e+01] [ 8.64879024e-02 9.96252901e-01 -1.11540819e-05 6.03006712e+00] [ 1.83651323e-04 -4.74732465e-06 9.99999983e-01 -4.54280788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58439141799998 meters 0.057760682925524866 Centerline is valid? [True, True] Translation: X:71.90, Y:6.03, Z:-0.46 [[ 9.96289930e-01 -8.60540553e-02 -1.03707627e-03 7.19039139e+01] [ 8.60540364e-02 9.96290469e-01 -6.29074469e-05 6.03028572e+00] [ 1.03864264e-03 -2.65705429e-05 9.99999460e-01 -4.59909473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64439141799998 meters 0.05858481416083313 Centerline is valid? [True, True] Translation: X:71.97, Y:6.03, Z:-0.46 [[ 9.96154035e-01 -8.75857624e-02 2.42351326e-03 7.19652621e+01] [ 8.75856607e-02 9.96156981e-01 1.48284710e-04 6.02932748e+00] [-2.42718728e-03 6.45505975e-05 9.99997052e-01 -4.57267044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70439141799999 meters 0.05832242678004749 Centerline is valid? [True, True] Translation: X:72.03, Y:6.05, Z:-0.46 [[ 9.96436552e-01 -8.43179596e-02 -2.16312170e-03 7.20254724e+01] [ 8.43178725e-02 9.96438899e-01 -1.31601529e-04 6.04509445e+00] [ 2.16651498e-03 -5.12572457e-05 9.99997652e-01 -4.56218994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters 0.0592327881241253 Centerline is valid? [True, True] Translation: X:72.09, Y:6.05, Z:-0.47 [[ 9.96693344e-01 -8.07933317e-02 -8.64959823e-03 7.20871877e+01] [ 8.07918162e-02 9.96730860e-01 -5.25052905e-04 6.04903558e+00] [ 8.66374225e-03 -1.75500014e-04 9.99962454e-01 -4.66497021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters 0.05822369937807698 Centerline is valid? [True, True] Translation: X:72.15, Y:6.06, Z:-0.46 [[ 9.96715182e-01 -8.09820949e-02 8.63769935e-04 7.21477789e+01] [ 8.09820797e-02 9.96715556e-01 5.25927145e-05 6.05733828e+00] [-8.65191999e-04 1.75299287e-05 9.99999626e-01 -4.59464807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters 0.05882256833890724 Centerline is valid? [True, True] Translation: X:72.21, Y:6.06, Z:-0.45 [[ 9.96842444e-01 -7.92970329e-02 4.13802257e-03 7.22084365e+01] [ 7.92966719e-02 9.96851029e-01 2.51493379e-04 6.06453778e+00] [-4.14493473e-03 7.74321431e-05 9.99991407e-01 -4.51069093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94439141799998 meters 0.058270830316262685 Centerline is valid? [True, True] Translation: X:72.27, Y:6.07, Z:-0.45 [[ 9.96771247e-01 -8.02850184e-02 1.18191598e-03 7.22703143e+01] [ 8.02849890e-02 9.96771947e-01 7.23550035e-05 6.07481879e+00] [-1.18390971e-03 2.27687240e-05 9.99999299e-01 -4.53596001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00439141799998 meters 0.05914665435631128 Centerline is valid? [True, True] Translation: X:72.33, Y:6.07, Z:-0.45 [[ 9.96333494e-01 -8.54579662e-02 4.06267420e-03 7.23309562e+01] [ 8.54576715e-02 9.96341772e-01 2.46380810e-04 6.06712142e+00] [-4.06886721e-03 1.01709224e-04 9.99991717e-01 -4.54196543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06439141799999 meters 0.058500569950198464 Centerline is valid? [True, True] Translation: X:72.39, Y:6.08, Z:-0.45 [[ 9.96089333e-01 -8.83432364e-02 1.23042133e-03 7.23917325e+01] [ 8.83432114e-02 9.96090092e-01 7.47060921e-05 6.07979151e+00] [-1.23221027e-03 3.42854301e-05 9.99999240e-01 -4.54061369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters 0.0568348832096408 Centerline is valid? [True, True] Translation: X:72.45, Y:6.09, Z:-0.46 [[ 9.96150908e-01 -8.76166260e-02 -2.58749326e-03 7.24532792e+01] [ 8.76165167e-02 9.96154266e-01 -1.55791350e-04 6.08608189e+00] [ 2.59119237e-03 -7.15154520e-05 9.99996640e-01 -4.58387628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters 0.05768707289346752 Centerline is valid? [True, True] Translation: X:72.51, Y:6.09, Z:-0.46 [[ 9.96362946e-01 -8.52031358e-02 -1.14236904e-03 7.25143432e+01] [ 8.52031128e-02 9.96363601e-01 -6.89121035e-05 6.09309316e+00] [ 1.14408646e-03 -2.86719318e-05 9.99999345e-01 -4.57875681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters 0.0578896858846376 Centerline is valid? [True, True] Translation: X:72.57, Y:6.10, Z:-0.46 [[ 9.96795802e-01 -7.99882983e-02 2.46381812e-05 7.25740446e+01] [ 7.99882983e-02 9.96795803e-01 1.45449845e-06 6.10076441e+00] [-2.46755785e-05 5.20928242e-07 1.00000000e+00 -4.59149073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30439141799998 meters 0.057599258723800804 Centerline is valid? [True, True] Translation: X:72.64, Y:6.11, Z:-0.46 [[ 9.96721369e-01 -8.09075043e-02 6.98701869e-04 7.26364169e+01] [ 8.09074941e-02 9.96721614e-01 4.28554493e-05 6.10682458e+00] [-6.99878582e-04 1.38152753e-05 9.99999755e-01 -4.59691831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36439141799998 meters 0.05808855693836104 Centerline is valid? [True, True] Translation: X:72.70, Y:6.10, Z:-0.46 [[ 9.96534593e-01 -8.31619995e-02 1.69924800e-03 7.26973979e+01] [ 8.31619450e-02 9.96536041e-01 1.02788088e-04 6.10435582e+00] [-1.70190994e-03 3.88808835e-05 9.99998551e-01 -4.56246200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42439141799998 meters 0.05690978573289977 Centerline is valid? [True, True] Translation: X:72.76, Y:6.12, Z:-0.46 [[ 9.96684087e-01 -8.13289130e-02 -2.53757376e-03 7.27590028e+01] [ 8.13287879e-02 9.96687316e-01 -1.52636234e-04 6.12279862e+00] [ 2.54158131e-03 -5.42476926e-05 9.99996769e-01 -4.55147580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48439141799999 meters 0.05735208618802503 Centerline is valid? [True, True] Translation: X:72.82, Y:6.12, Z:-0.46 [[ 9.96712683e-01 -8.08617684e-02 -5.02008369e-03 7.28203064e+01] [ 8.08612761e-02 9.96725320e-01 -3.01279061e-04 6.12442170e+00] [ 5.02800648e-03 -1.05641712e-04 9.99987354e-01 -4.60311814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters 0.0582499851769078 Centerline is valid? [True, True] Translation: X:72.88, Y:6.12, Z:-0.46 [[ 9.96538273e-01 -8.31352205e-02 8.09861255e-05 7.28814754e+01] [ 8.31352203e-02 9.96538276e-01 5.20176033e-06 6.11862607e+00] [-8.11382234e-05 1.54904613e-06 9.99999997e-01 -4.63794742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters 0.05824517509106936 Centerline is valid? [True, True] Translation: X:72.94, Y:6.13, Z:-0.46 [[ 9.96631391e-01 -8.18505610e-02 5.13392073e-03 7.29426679e+01] [ 8.18500573e-02 9.96644607e-01 3.08492424e-04 6.12550361e+00] [-5.14194468e-03 1.12758472e-04 9.99986774e-01 -4.55802815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66439141799998 meters 0.0569408649586238 Centerline is valid? [True, True] Translation: X:73.00, Y:6.15, Z:-0.45 [[ 9.97162192e-01 -7.52813182e-02 -5.35482711e-04 7.30016794e+01] [ 7.52813118e-02 9.97162335e-01 -3.21631410e-05 6.14774645e+00] [ 5.36384474e-04 -8.23997271e-06 9.99999856e-01 -4.51707020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72439141799998 meters 0.05810339438342392 Centerline is valid? [True, True] Translation: X:73.06, Y:6.14, Z:-0.46 [[ 9.97244180e-01 -7.41016072e-02 -3.60528783e-03 7.30643975e+01] [ 7.41013100e-02 9.97250695e-01 -2.16140356e-04 6.14393142e+00] [ 3.61139215e-03 -5.16118388e-05 9.99993478e-01 -4.62507769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78439141799998 meters 0.05732747481339799 Centerline is valid? [True, True] Translation: X:73.12, Y:6.14, Z:-0.46 [[ 9.97293247e-01 -7.35169434e-02 1.19914115e-03 7.31246029e+01] [ 7.35169100e-02 9.97293968e-01 7.20130903e-05 6.14355229e+00] [-1.20119042e-03 1.63389834e-05 9.99999278e-01 -4.60740675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84439141799999 meters 0.05708811552383073 Centerline is valid? [True, True] Translation: X:73.19, Y:6.15, Z:-0.46 [[ 9.97521414e-01 -7.03604829e-02 6.56332152e-04 7.31854941e+01] [ 7.03604721e-02 9.97521630e-01 3.95474323e-05 6.15184678e+00] [-6.57488094e-04 6.73042951e-06 9.99999784e-01 -4.58268226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters 0.057397821562134556 Centerline is valid? [True, True] Translation: X:73.25, Y:6.15, Z:-0.46 [[ 9.97455535e-01 -7.12623118e-02 -2.03443784e-03 7.32480582e+01] [ 7.12622117e-02 9.97457609e-01 -1.21712101e-04 6.15320134e+00] [ 2.03793899e-03 -2.35761308e-05 9.99997923e-01 -4.62363537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters 0.05704451290485624 Centerline is valid? [True, True] Translation: X:73.31, Y:6.16, Z:-0.46 [[ 9.97055153e-01 -7.66877859e-02 7.08847602e-05 7.33094514e+01] [ 7.66877858e-02 9.97055156e-01 4.34614918e-06 6.15674339e+00] [-7.10093122e-05 1.10264487e-06 9.99999997e-01 -4.58664958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02439141799998 meters 0.05833510060541055 Centerline is valid? [True, True] Translation: X:73.37, Y:6.16, Z:-0.46 [[ 9.96538515e-01 -8.30919391e-02 -2.59198535e-03 7.33690222e+01] [ 8.30918162e-02 9.96541884e-01 -1.55262721e-04 6.15551617e+00] [ 2.59592305e-03 -6.06474887e-05 9.99996629e-01 -4.62020822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08439141799998 meters 0.058559296324351175 Centerline is valid? [True, True] Translation: X:73.43, Y:6.15, Z:-0.46 [[ 9.95219878e-01 -9.76595043e-02 -1.26293686e-04 7.34301788e+01] [ 9.76595041e-02 9.95219886e-01 -7.53466548e-06 6.14558709e+00] [ 1.26425819e-04 -4.83512988e-06 9.99999992e-01 -4.64268024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14439141799998 meters 0.058507642332929 Centerline is valid? [True, True] Translation: X:73.49, Y:6.16, Z:-0.46 [[ 9.93960578e-01 -1.09677075e-01 3.64802149e-03 7.34891708e+01] [ 1.09677010e-01 9.93967256e-01 2.18590114e-04 6.15501506e+00] [-3.64998823e-03 1.82834132e-04 9.99993322e-01 -4.56124559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20439141799999 meters 0.056955465368669536 Centerline is valid? [True, True] Translation: X:73.55, Y:6.16, Z:-0.46 [[ 9.93312243e-01 -1.15455228e-01 9.36607656e-04 7.35496533e+01] [ 1.15455227e-01 9.93312684e-01 5.61432639e-05 6.16413477e+00] [-9.36826298e-04 5.23684578e-05 9.99999560e-01 -4.59900739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters 0.05809204833971623 Centerline is valid? [True, True] Translation: X:73.61, Y:6.15, Z:-0.46 [[ 9.92319652e-01 -1.23685038e-01 1.92882186e-03 7.36102302e+01] [ 1.23685046e-01 9.92321518e-01 1.15559660e-04 6.15426007e+00] [-1.92830444e-03 1.23894299e-04 9.99998133e-01 -4.63585356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters 0.061734262158997334 Centerline is valid? [True, True] Translation: X:73.67, Y:6.15, Z:-0.46 [[ 9.92413006e-01 -1.22918540e-01 2.73093063e-03 7.36708622e+01] [ 1.22918553e-01 9.92416748e-01 1.63696338e-04 6.15381801e+00] [-2.73034261e-03 1.73227669e-04 9.99996258e-01 -4.59773982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799998 meters 0.056131091760226515 Centerline is valid? [True, True] Translation: X:73.73, Y:6.19, Z:-0.46 [[ 9.93219462e-01 -1.16253852e-01 -3.78232601e-04 7.37295896e+01] [ 1.16253852e-01 9.93219533e-01 -2.26211939e-05 6.19011265e+00] [ 3.78297809e-04 -2.15031868e-05 9.99999928e-01 -4.61964529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44439141799998 meters 0.0591377925427602 Centerline is valid? [True, True] Translation: X:73.79, Y:6.18, Z:-0.47 [[ 9.93653106e-01 -1.12455816e-01 2.68231543e-03 7.37902863e+01] [ 1.12455791e-01 9.93656716e-01 1.60540295e-04 6.17958006e+00] [-2.68335443e-03 1.42120541e-04 9.99996390e-01 -4.65075407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50439141799998 meters 0.05764085530873665 Centerline is valid? [True, True] Translation: X:73.85, Y:6.19, Z:-0.46 [[ 9.94158937e-01 -1.07728579e-01 6.52382882e-03 7.38489271e+01] [ 1.07728332e-01 9.94180293e-01 3.90331583e-04 6.19453901e+00] [-6.52791191e-03 3.14749563e-04 9.99978643e-01 -4.57231110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56439141799999 meters 0.056376173953589834 Centerline is valid? [True, True] Translation: X:73.91, Y:6.22, Z:-0.46 [[ 9.94637070e-01 -1.03424945e-01 -6.16782313e-04 7.39082969e+01] [ 1.03424942e-01 9.94637260e-01 -3.69063310e-05 6.21572464e+00] [ 6.17291705e-04 -2.70822701e-05 9.99999809e-01 -4.60533849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters 0.05642179448506219 Centerline is valid? [True, True] Translation: X:73.97, Y:6.22, Z:-0.46 [[ 9.95274308e-01 -9.70767822e-02 -2.26926127e-03 7.39685521e+01] [ 9.70767246e-02 9.95276892e-01 -1.35754665e-04 6.22348197e+00] [ 2.27172193e-03 -8.51793214e-05 9.99997416e-01 -4.63818254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters 0.05684800580500139 Centerline is valid? [True, True] Translation: X:74.03, Y:6.23, Z:-0.46 [[ 9.95941545e-01 -9.00006115e-02 5.73501189e-04 7.40273218e+01] [ 9.00006067e-02 9.95941710e-01 3.42772128e-05 6.23277342e+00] [-5.74258725e-04 1.74773546e-05 9.99999835e-01 -4.63442765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters 0.05716100693962914 Centerline is valid? [True, True] Translation: X:74.09, Y:6.24, Z:-0.46 [[ 9.96586200e-01 -8.24107909e-02 4.94039160e-03 7.40871868e+01] [ 8.24103375e-02 9.96598439e-01 2.95617639e-04 6.23518994e+00] [-4.94794864e-03 1.12530880e-04 9.99987752e-01 -4.63121942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80439141799998 meters 0.05802951250333758 Centerline is valid? [True, True] Translation: X:74.15, Y:6.24, Z:-0.46 [[ 9.96823032e-01 -7.95298418e-02 4.34133599e-03 7.41483040e+01] [ 7.95294645e-02 9.96832482e-01 2.59761098e-04 6.23975949e+00] [-4.34824349e-03 8.63282813e-05 9.99990543e-01 -4.63149663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86439141799998 meters 0.056344530047173574 Centerline is valid? [True, True] Translation: X:74.21, Y:6.26, Z:-0.46 [[ 9.97332567e-01 -7.29913857e-02 -9.50474220e-05 7.42082071e+01] [ 7.29913855e-02 9.97332571e-01 -5.58536055e-06 6.26134099e+00] [ 9.52015730e-05 -1.36718105e-06 9.99999995e-01 -4.62582300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92439141799998 meters 0.05663234929617441 Centerline is valid? [True, True] Translation: X:74.27, Y:6.27, Z:-0.47 [[ 9.97600275e-01 -6.92357446e-02 -3.20181718e-04 7.42689257e+01] [ 6.92357421e-02 9.97600327e-01 -1.90421666e-05 6.26555944e+00] [ 3.20731785e-04 -3.17154825e-06 9.99999949e-01 -4.66387027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98439141799999 meters 0.05698899959009354 Centerline is valid? [True, True] Translation: X:74.33, Y:6.27, Z:-0.47 [[ 9.97646128e-01 -6.85168868e-02 2.76411448e-03 7.43306211e+01] [ 6.85166910e-02 9.97649956e-01 1.65577522e-04 6.26560635e+00] [-2.76896354e-03 2.42002043e-05 9.99996166e-01 -4.65996800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters 0.05654127126678585 Centerline is valid? [True, True] Translation: X:74.39, Y:6.27, Z:-0.46 [[ 9.97606172e-01 -6.90536134e-02 3.67748011e-03 7.43931630e+01] [ 6.90532724e-02 9.97612950e-01 2.19755782e-04 6.27430062e+00] [-3.68387671e-03 3.47123114e-05 9.99993214e-01 -4.62488195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters 0.056086484480223735 Centerline is valid? [True, True] Translation: X:74.45, Y:6.28, Z:-0.46 [[ 9.97197116e-01 -7.48006238e-02 1.66713949e-03 7.44545016e+01] [ 7.48005622e-02 9.97198509e-01 9.93497779e-05 6.27764806e+00] [-1.66990044e-03 2.56316590e-05 9.99998605e-01 -4.64882484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16439141799998 meters 0.058233309521636654 Centerline is valid? [True, True] Translation: X:74.52, Y:6.27, Z:-0.47 [[ 9.96814701e-01 -7.97497660e-02 6.53354181e-04 7.45151884e+01] [ 7.97497576e-02 9.96814915e-01 3.88965683e-05 6.26509327e+00] [-6.54375184e-04 1.33321665e-05 9.99999786e-01 -4.70696583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22439141799998 meters 0.05738545845514392 Centerline is valid? [True, True] Translation: X:74.58, Y:6.27, Z:-0.47 [[ 9.96079855e-01 -8.84394281e-02 1.84118742e-03 7.45761649e+01] [ 8.84393763e-02 9.96081555e-01 1.09691234e-04 6.26961439e+00] [-1.84367386e-03 5.35722392e-05 9.99998299e-01 -4.69650234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28439141799998 meters 0.05921834688062005 Centerline is valid? [True, True] Translation: X:74.64, Y:6.26, Z:-0.46 [[ 9.95891265e-01 -9.05019383e-02 3.16035911e-03 7.46367499e+01] [ 9.05017967e-02 9.95896274e-01 1.88088109e-04 6.26361414e+00] [-3.16441220e-03 9.87028725e-05 9.99994988e-01 -4.64229752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34439141799999 meters 0.05794935425932529 Centerline is valid? [True, True] Translation: X:74.70, Y:6.28, Z:-0.47 [[ 9.96031920e-01 -8.89907801e-02 1.02705954e-03 7.46979650e+01] [ 8.89907638e-02 9.96032449e-01 6.16376424e-05 6.27847932e+00] [-1.02846981e-03 3.00057536e-05 9.99999471e-01 -4.65417603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters 0.056734313793819 Centerline is valid? [True, True] Translation: X:74.76, Y:6.29, Z:-0.47 [[ 9.96052711e-01 -8.87630878e-02 -3.32346366e-04 7.47609026e+01] [ 8.87630862e-02 9.96052767e-01 -1.93905902e-05 6.28865610e+00] [ 3.32755686e-04 -1.01860392e-05 9.99999945e-01 -4.70685357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters 0.056683145661100616 Centerline is valid? [True, True] Translation: X:74.82, Y:6.28, Z:-0.47 [[ 9.95905574e-01 -9.03613128e-02 2.63068616e-03 7.48218968e+01] [ 9.03612148e-02 9.95909045e-01 1.56335393e-04 6.28343312e+00] [-2.63405081e-03 8.20167077e-05 9.99996528e-01 -4.71145218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52439141799998 meters 0.056059957335782125 Centerline is valid? [True, True] Translation: X:74.88, Y:6.30, Z:-0.47 [[ 9.96096445e-01 -8.81940883e-02 3.69786040e-03 7.48831327e+01] [ 8.81938812e-02 9.96103303e-01 2.19371803e-04 6.29664055e+00] [-3.70279826e-03 1.07613188e-04 9.99993139e-01 -4.66444686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58439141799998 meters 0.056819543402714674 Centerline is valid? [True, True] Translation: X:74.94, Y:6.30, Z:-0.47 [[ 9.96754225e-01 -8.04982436e-02 -1.02400225e-03 7.49439219e+01] [ 8.04982237e-02 9.96754750e-01 -6.06542184e-05 6.30298228e+00] [ 1.02556166e-03 -2.19730137e-05 9.99999474e-01 -4.69883857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64439141799998 meters 0.056572531237738664 Centerline is valid? [True, True] Translation: X:75.00, Y:6.30, Z:-0.47 [[ 9.97036763e-01 -7.69263347e-02 1.79337646e-04 7.50047040e+01] [ 7.69263341e-02 9.97036779e-01 1.06460264e-05 6.30346710e+00] [-1.79625189e-04 3.18130797e-06 9.99999984e-01 -4.73166953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70439141799999 meters 0.056537470195962274 Centerline is valid? [True, True] Translation: X:75.07, Y:6.31, Z:-0.47 [[ 9.97148986e-01 -7.54220950e-02 2.32549088e-03 7.50664609e+01] [ 7.54219777e-02 9.97151697e-01 1.38213780e-04 6.30647037e+00] [-2.32929155e-03 3.75733907e-05 9.99997286e-01 -4.66810352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters 0.056089135016159475 Centerline is valid? [True, True] Translation: X:75.13, Y:6.31, Z:-0.47 [[ 9.97252695e-01 -7.40703893e-02 -7.99765254e-04 7.51292939e+01] [ 7.40703758e-02 9.97253016e-01 -4.64423247e-05 6.31268495e+00] [ 8.01008313e-04 -1.29241795e-05 9.99999679e-01 -4.66731831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters 0.05824737161766854 Centerline is valid? [True, True] Translation: X:75.19, Y:6.32, Z:-0.47 [[ 9.97327682e-01 -7.29770679e-02 -3.44115026e-03 7.51910344e+01] [ 7.29768053e-02 9.97333618e-01 -2.01982530e-04 6.31661841e+00] [ 3.44671493e-03 -4.96813841e-05 9.99994059e-01 -4.71333697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799998 meters 0.05785955907214747 Centerline is valid? [True, True] Translation: X:75.25, Y:6.32, Z:-0.47 [[ 9.97357320e-01 -7.26113191e-02 -2.44394422e-03 7.52531375e+01] [ 7.26111867e-02 9.97360314e-01 -1.42964263e-04 6.31789710e+00] [ 2.44787380e-03 -3.48712361e-05 9.99997003e-01 -4.74405028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94439141799998 meters 0.056480476655784456 Centerline is valid? [True, True] Translation: X:75.31, Y:6.32, Z:-0.46 [[ 9.97318897e-01 -7.30133173e-02 4.90642207e-03 7.53142300e+01] [ 7.30127814e-02 9.97330963e-01 2.88483889e-04 6.32049330e+00] [-4.91438981e-03 7.05210883e-05 9.99987922e-01 -4.64624337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00439141799998 meters 0.057052319588888636 Centerline is valid? [True, True] Translation: X:75.38, Y:6.33, Z:-0.46 [[ 9.97101513e-01 -7.60198254e-02 3.09161270e-03 7.53755480e+01] [ 7.60196274e-02 9.97106305e-01 1.81681201e-04 6.32566737e+00] [-3.09647789e-03 5.38686454e-05 9.99995204e-01 -4.64940997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06439141799999 meters 0.05758142876304238 Centerline is valid? [True, True] Translation: X:75.44, Y:6.32, Z:-0.48 [[ 9.96621813e-01 -8.21066127e-02 -1.86185705e-03 7.54361983e+01] [ 8.21065520e-02 9.96623551e-01 -1.09133377e-04 6.32014543e+00] [ 1.86453115e-03 -4.41059589e-05 9.99998261e-01 -4.75049107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters 0.05779616736629008 Centerline is valid? [True, True] Translation: X:75.50, Y:6.32, Z:-0.47 [[ 9.96438297e-01 -8.43113130e-02 1.52394132e-03 7.54975015e+01] [ 8.43112746e-02 9.96439462e-01 8.95288151e-05 6.32059669e+00] [-1.52606357e-03 3.92754954e-05 9.99998835e-01 -4.72214552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters 0.056600712932797954 Centerline is valid? [True, True] Translation: X:75.56, Y:6.33, Z:-0.47 [[ 9.96862895e-01 -7.90195495e-02 4.50325684e-03 7.55565252e+01] [ 7.90191629e-02 9.96873062e-01 2.63975905e-04 6.32755203e+00] [-4.51003469e-03 9.26958008e-05 9.99989825e-01 -4.66466065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters 0.05719920097094955 Centerline is valid? [True, True] Translation: X:75.62, Y:6.34, Z:-0.47 [[ 9.97097952e-01 -7.60613426e-02 3.21660322e-03 7.56179070e+01] [ 7.60611296e-02 9.97103139e-01 1.88650382e-04 6.33560535e+00] [-3.22163417e-03 5.65555649e-05 9.99994809e-01 -4.66513692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30439141799998 meters 0.057503811124475786 Centerline is valid? [True, True] Translation: X:75.68, Y:6.33, Z:-0.47 [[ 9.96793598e-01 -7.99170194e-02 3.97412288e-03 7.56782368e+01] [ 7.99167257e-02 9.96801516e-01 2.32898893e-04 6.32919405e+00] [-3.98002430e-03 8.54467628e-05 9.99992076e-01 -4.69881280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36439141799998 meters 0.057777329973170366 Centerline is valid? [True, True] Translation: X:75.74, Y:6.33, Z:-0.47 [[ 9.96666172e-01 -8.15721480e-02 1.58945207e-03 7.57403947e+01] [ 8.15721029e-02 9.96667439e-01 9.33247969e-05 6.32942731e+00] [-1.59176782e-03 3.66412793e-05 9.99998732e-01 -4.72053349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42439141799998 meters 0.05633566835647888 Centerline is valid? [True, True] Translation: X:75.80, Y:6.33, Z:-0.47 [[ 9.96957967e-01 -7.79392136e-02 -5.38602029e-04 7.58012975e+01] [ 7.79392079e-02 9.96958113e-01 -3.14375842e-05 6.33341007e+00] [ 5.39413883e-04 -1.06362654e-05 9.99999854e-01 -4.72631327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48439141799999 meters 0.05702887078470182 Centerline is valid? [True, True] Translation: X:75.86, Y:6.34, Z:-0.47 [[ 9.97008780e-01 -7.72819250e-02 9.98588437e-04 7.58634955e+01] [ 7.72819050e-02 9.97009280e-01 5.86701559e-05 6.34350681e+00] [-1.00013608e-03 1.86781562e-05 9.99999500e-01 -4.71831498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters 0.05838776208378885 Centerline is valid? [True, True] Translation: X:75.93, Y:6.33, Z:-0.47 [[ 9.96907293e-01 -7.84144412e-02 5.19850349e-03 7.59254006e+01] [ 7.84139204e-02 9.96920842e-01 3.04233528e-04 6.33313670e+00] [-5.20635278e-03 1.04342417e-04 9.99986441e-01 -4.73322276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters 0.058420560876349066 Centerline is valid? [True, True] Translation: X:75.99, Y:6.34, Z:-0.47 [[ 9.96831787e-01 -7.93356314e-02 5.67858132e-03 7.59874710e+01] [ 7.93350287e-02 9.96847954e-01 3.31668908e-04 6.33905665e+00] [-5.68699533e-03 1.19892301e-04 9.99983822e-01 -4.70709155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66439141799998 meters 0.057399277861397785 Centerline is valid? [True, True] Translation: X:76.05, Y:6.35, Z:-0.47 [[ 9.96787085e-01 -7.99731002e-02 4.45098681e-03 7.60493151e+01] [ 7.99727377e-02 9.96797017e-01 2.59636656e-04 6.34673240e+00] [-4.45749432e-03 9.71551354e-05 9.99990061e-01 -4.70444295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72439141799998 meters 0.05896647292455936 Centerline is valid? [True, True] Translation: X:76.11, Y:6.34, Z:-0.48 [[ 9.96852709e-01 -7.92355497e-02 -2.53066249e-03 7.61105802e+01] [ 7.92354314e-02 9.96855920e-01 -1.47122702e-04 6.33625915e+00] [ 2.53436323e-03 -5.38584700e-05 9.99996787e-01 -4.84140265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78439141799998 meters 0.05572712112192644 Centerline is valid? [True, True] Translation: X:76.17, Y:6.35, Z:-0.48 [[ 9.96981091e-01 -7.76031582e-02 2.54030071e-03 7.61710997e+01] [ 7.76030333e-02 9.96984327e-01 1.47828481e-04 6.35427124e+00] [-2.54411195e-03 4.97528400e-05 9.99996763e-01 -4.76478609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84439141799999 meters 0.05642103857575225 Centerline is valid? [True, True] Translation: X:76.23, Y:6.36, Z:-0.47 [[ 9.97209797e-01 -7.44625727e-02 5.28634174e-03 7.62322378e+01] [ 7.44619888e-02 9.97223805e-01 3.07459675e-04 6.36294381e+00] [-5.29456007e-03 8.70297195e-05 9.99985980e-01 -4.74186423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters 0.057462607989975455 Centerline is valid? [True, True] Translation: X:76.29, Y:6.36, Z:-0.48 [[ 9.97199584e-01 -7.46495951e-02 4.51977013e-03 7.62932204e+01] [ 7.46491706e-02 9.97209824e-01 2.62789324e-04 6.36188591e+00] [-4.52677629e-03 7.53436873e-05 9.99989751e-01 -4.78144704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters 0.05719885909985968 Centerline is valid? [True, True] Translation: X:76.35, Y:6.36, Z:-0.47 [[ 9.96835649e-01 -7.93423374e-02 4.84583176e-03 7.63532740e+01] [ 7.93419067e-02 9.96847422e-01 2.81359091e-04 6.35937669e+00] [-4.85287859e-03 1.04008760e-04 9.99988219e-01 -4.74699419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02439141799998 meters 0.0560799489876 Centerline is valid? [True, True] Translation: X:76.41, Y:6.37, Z:-0.47 [[ 9.96748453e-01 -8.05534722e-02 1.91302992e-03 7.64146859e+01] [ 8.05534070e-02 9.96750288e-01 1.11191283e-04 6.37449258e+00] [-1.91576997e-03 4.32713388e-05 9.99998164e-01 -4.74053534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08439141799998 meters 0.05706778315576602 Centerline is valid? [True, True] Translation: X:76.48, Y:6.37, Z:-0.48 [[ 9.96909293e-01 -7.85421540e-02 -1.72954277e-03 7.64757347e+01] [ 7.85420995e-02 9.96910793e-01 -9.95213575e-05 6.37412383e+00] [ 1.73201648e-03 -3.66281543e-05 9.99998499e-01 -4.82599454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14439141799998 meters 0.05714048614512478 Centerline is valid? [True, True] Translation: X:76.54, Y:6.38, Z:-0.48 [[ 9.97521411e-01 -7.03495294e-02 1.40672230e-03 7.65358534e+01] [ 7.03494845e-02 9.97522402e-01 8.14766847e-05 6.38432510e+00] [-1.40896886e-03 1.76874514e-05 9.99999007e-01 -4.82664952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20439141799999 meters 0.056396341936121315 Centerline is valid? [True, True] Translation: X:76.60, Y:6.40, Z:-0.48 [[ 9.97962369e-01 -6.36629091e-02 4.25949629e-03 7.65972744e+01] [ 6.36624359e-02 9.97971459e-01 2.46713760e-04 6.39608214e+00] [-4.26656224e-03 2.49588606e-05 9.99990898e-01 -4.79419686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters 0.05569775040594087 Centerline is valid? [True, True] Translation: X:76.66, Y:6.40, Z:-0.47 [[ 9.98338196e-01 -5.68177436e-02 9.62240225e-03 7.66582678e+01] [ 5.68150181e-02 9.98384567e-01 5.56581450e-04 6.40338025e+00] [-9.63848161e-03 -8.95956223e-06 9.99953549e-01 -4.73917428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters 0.056752639399190244 Centerline is valid? [True, True] Translation: X:76.72, Y:6.41, Z:-0.47 [[ 9.98402372e-01 -5.59776847e-02 7.69430843e-03 7.67193660e+01] [ 5.59759222e-02 9.98432020e-01 4.44392942e-04 6.40683693e+00] [-7.70711999e-03 -1.29869568e-05 9.99970300e-01 -4.74390756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799998 meters 0.05773584450150437 Centerline is valid? [True, True] Translation: X:76.78, Y:6.40, Z:-0.49 [[ 9.98149850e-01 -6.07881720e-02 -1.29434028e-03 7.67814274e+01] [ 6.07881273e-02 9.98150689e-01 -7.38655928e-05 6.40487372e+00] [ 1.29643679e-03 -4.95159108e-06 9.99999160e-01 -4.86168093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44439141799998 meters 0.05597292894417843 Centerline is valid? [True, True] Translation: X:76.84, Y:6.41, Z:-0.49 [[ 9.97634603e-01 -6.87374562e-02 -6.00578517e-04 7.68415088e+01] [ 6.87374478e-02 9.97634784e-01 -3.45888460e-05 6.40585667e+00] [ 6.01535568e-04 -6.77520480e-06 9.99999819e-01 -4.86223685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50439141799998 meters 0.05541946805607601 Centerline is valid? [True, True] Translation: X:76.90, Y:6.41, Z:-0.48 [[ 9.97466126e-01 -7.10574873e-02 3.48736993e-03 7.69034050e+01] [ 7.10572188e-02 9.97472221e-01 2.00997340e-04 6.40993369e+00] [-3.49283700e-03 4.73147702e-05 9.99993899e-01 -4.82359021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56439141799999 meters 0.05582846437936096 Centerline is valid? [True, True] Translation: X:76.96, Y:6.41, Z:-0.48 [[ 9.97013501e-01 -7.71846863e-02 2.56953291e-03 7.69642525e+01] [ 7.71845615e-02 9.97016811e-01 1.47849189e-04 6.41294643e+00] [-2.57327920e-03 5.09206333e-05 9.99996688e-01 -4.83175462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters 0.05693050380117625 Centerline is valid? [True, True] Translation: X:77.02, Y:6.41, Z:-0.48 [[ 9.96381327e-01 -8.48742994e-02 4.53915036e-03 7.70246279e+01] [ 8.48739898e-02 9.96391659e-01 2.61134409e-04 6.41157490e+00] [-4.54493516e-03 1.25066352e-04 9.99989664e-01 -4.83031009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters 0.05807920697688927 Centerline is valid? [True, True] Translation: X:77.08, Y:6.41, Z:-0.48 [[ 9.95851826e-01 -9.07178779e-02 7.02908971e-03 7.70846802e+01] [ 9.07172814e-02 9.95876605e-01 4.04298041e-04 6.40610848e+00] [-7.03678305e-03 2.35038967e-04 9.99975214e-01 -4.79360953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters 0.05636832873112047 Centerline is valid? [True, True] Translation: X:77.15, Y:6.42, Z:-0.48 [[ 9.96019146e-01 -8.90975364e-02 2.73666329e-03 7.71456001e+01] [ 8.90974398e-02 9.96022902e-01 1.57437373e-04 6.42461452e+00] [-2.73980660e-03 8.70190557e-05 9.99996243e-01 -4.84260841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80439141799998 meters 0.056176082651666896 Centerline is valid? [True, True] Translation: X:77.21, Y:6.42, Z:-0.49 [[ 9.96350978e-01 -8.52340772e-02 4.45873137e-03 7.72056990e+01] [ 8.52337835e-02 9.96360947e-01 2.56180566e-04 6.42312886e+00] [-4.46434113e-03 1.24788787e-04 9.99990027e-01 -4.85010219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86439141799998 meters 0.055739192581257056 Centerline is valid? [True, True] Translation: X:77.27, Y:6.44, Z:-0.48 [[ 9.97120679e-01 -7.54208344e-02 7.87709697e-03 7.72657189e+01] [ 7.54196113e-02 9.97151783e-01 4.52630921e-04 6.43760027e+00] [-7.88879908e-03 1.42759941e-04 9.99968873e-01 -4.80680854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92439141799998 meters 0.05627807831559027 Centerline is valid? [True, True] Translation: X:77.33, Y:6.44, Z:-0.49 [[ 9.97491291e-01 -7.06698919e-02 4.10976883e-03 7.73261891e+01] [ 7.06695186e-02 9.97499756e-01 2.36175140e-04 6.44394105e+00] [-4.11618388e-03 5.48527391e-05 9.99991527e-01 -4.88138726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98439141799999 meters 0.05590124556231766 Centerline is valid? [True, True] Translation: X:77.39, Y:6.45, Z:-0.49 [[ 9.97343059e-01 -7.27229938e-02 4.26476019e-03 7.73878831e+01] [ 7.27226101e-02 9.97352175e-01 2.45183721e-04 6.45054341e+00] [-4.27129835e-03 6.56122099e-05 9.99990876e-01 -4.88831442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters 0.0556120678968842 Centerline is valid? [True, True] Translation: X:77.45, Y:6.46, Z:-0.49 [[ 9.97374237e-01 -7.24062545e-02 1.40188913e-03 7.74499877e+01] [ 7.24062128e-02 9.97375222e-01 8.05578813e-05 6.45677094e+00] [-1.40404237e-03 2.11591269e-05 9.99999014e-01 -4.86409189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters 0.05704831590865317 Centerline is valid? [True, True] Translation: X:77.51, Y:6.46, Z:-0.49 [[ 9.97617637e-01 -6.89478966e-02 -2.28873257e-03 7.75106859e+01] [ 6.89477792e-02 9.97620262e-01 -1.30256284e-04 6.46116325e+00] [ 2.29226688e-03 -2.78570611e-05 9.99997372e-01 -4.91459765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16439141799998 meters 0.05557971048409673 Centerline is valid? [True, True] Translation: X:77.57, Y:6.46, Z:-0.49 [[ 9.97702090e-01 -6.77240865e-02 -1.99698594e-03 7.75723098e+01] [ 6.77239942e-02 9.97704088e-01 -1.13884751e-04 6.46471268e+00] [ 2.00011377e-03 -2.16208102e-05 9.99998000e-01 -4.93987828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22439141799998 meters 0.05532787642210021 Centerline is valid? [True, True] Translation: X:77.63, Y:6.47, Z:-0.49 [[ 9.97782300e-01 -6.63265485e-02 5.59193929e-03 7.76340664e+01] [ 6.63257991e-02 9.97797969e-01 3.19573251e-04 6.46981962e+00] [-5.60082185e-03 5.20253075e-05 9.99984314e-01 -4.85950640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28439141799998 meters 0.0561731460171328 Centerline is valid? [True, True] Translation: X:77.69, Y:6.48, Z:-0.48 [[ 9.98223257e-01 -5.92053257e-02 6.71260165e-03 7.76946702e+01] [ 5.92040859e-02 9.98245826e-01 3.83430341e-04 6.47823708e+00] [-6.72352769e-03 1.46643609e-05 9.99977397e-01 -4.81978626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34439141799999 meters 0.05601478888122951 Centerline is valid? [True, True] Translation: X:77.76, Y:6.48, Z:-0.48 [[ 9.98131468e-01 -6.07954498e-02 6.12261735e-03 7.77578800e+01] [ 6.07944489e-02 9.98150246e-01 3.49627085e-04 6.48106397e+00] [-6.13254774e-03 2.32473516e-05 9.99981195e-01 -4.83094432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters 0.056470465192180276 Centerline is valid? [True, True] Translation: X:77.82, Y:6.47, Z:-0.49 [[ 9.97815337e-01 -6.59224377e-02 4.33420301e-03 7.78194280e+01] [ 6.59219865e-02 9.97824749e-01 2.47033404e-04 6.47446670e+00] [-4.34106007e-03 3.92255531e-05 9.99990577e-01 -4.86719501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters 0.05560795016579942 Centerline is valid? [True, True] Translation: X:77.88, Y:6.48, Z:-0.49 [[ 9.97903226e-01 -6.47187249e-02 -7.98976975e-04 7.78813216e+01] [ 6.47187098e-02 9.97903546e-01 -4.47211725e-05 6.47895215e+00] [ 8.00196253e-04 -7.08135668e-06 9.99999680e-01 -4.92135954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52439141799998 meters 0.05494916731659478 Centerline is valid? [True, True] Translation: X:77.94, Y:6.48, Z:-0.49 [[ 9.97862588e-01 -6.53169318e-02 1.98868951e-03 7.79420285e+01] [ 6.53168353e-02 9.97864569e-01 1.13461464e-04 6.48446514e+00] [-1.99185376e-03 1.66759550e-05 9.99998016e-01 -4.90344259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58439141799998 meters 0.05564997742413297 Centerline is valid? [True, True] Translation: X:78.00, Y:6.48, Z:-0.49 [[ 9.97366170e-01 -7.21632111e-02 7.29347445e-03 7.80037326e+01] [ 7.21621145e-02 9.97392830e-01 4.13747281e-04 6.48089338e+00] [-7.30431645e-03 1.13654997e-04 9.99973317e-01 -4.86020059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64439141799998 meters 0.05766058154829839 Centerline is valid? [True, True] Translation: X:78.06, Y:6.47, Z:-0.49 [[ 9.96799893e-01 -7.99011032e-02 2.40551570e-03 7.80638919e+01] [ 7.99010065e-02 9.96802794e-01 1.36415587e-04 6.47087470e+00] [-2.40872453e-03 5.62240837e-05 9.99997097e-01 -4.92851964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70439141799999 meters 0.05590915431682474 Centerline is valid? [True, True] Translation: X:78.12, Y:6.48, Z:-0.49 [[ 9.96237373e-01 -8.66662132e-02 2.53319070e-04 7.81249514e+01] [ 8.66662123e-02 9.96237405e-01 1.44469671e-05 6.47938493e+00] [-2.53617997e-04 7.56159568e-06 9.99999968e-01 -4.91268381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters 0.05714254426877965 Centerline is valid? [True, True] Translation: X:78.18, Y:6.48, Z:-0.49 [[ 9.95868479e-01 -9.08064151e-02 -4.08369475e-04 7.81847105e+01] [ 9.08064133e-02 9.95868563e-01 -2.31013972e-05 6.47928491e+00] [ 4.08780078e-04 -1.40766141e-05 9.99999916e-01 -4.91688584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters 0.05709122915587328 Centerline is valid? [True, True] Translation: X:78.25, Y:6.47, Z:-0.50 [[ 9.95785260e-01 -9.16694318e-02 -2.90350916e-03 7.82464513e+01] [ 9.16693437e-02 9.95789488e-01 -1.63699998e-04 6.47422491e+00] [ 2.90629019e-03 -1.03152734e-04 9.99995771e-01 -4.98980904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799998 meters 0.05719487591856723 Centerline is valid? [True, True] Translation: X:78.31, Y:6.48, Z:-0.49 [[ 9.95569235e-01 -9.38440072e-02 5.93297411e-03 7.83085918e+01] [ 9.38436703e-02 9.95586889e-01 3.35771334e-04 6.47529869e+00] [-5.93830136e-03 2.22488456e-04 9.99982343e-01 -4.93481688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94439141799998 meters 0.056369321792679956 Centerline is valid? [True, True] Translation: X:78.37, Y:6.48, Z:-0.49 [[ 9.95735464e-01 -9.19992274e-02 6.85766290e-03 7.83701265e+01] [ 9.19987351e-02 9.95759048e-01 3.87875657e-04 6.48315850e+00] [-6.86426415e-03 2.44674766e-04 9.99976411e-01 -4.89592811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00439141799998 meters 0.05599458543602341 Centerline is valid? [True, True] Translation: X:78.43, Y:6.50, Z:-0.49 [[ 9.96160983e-01 -8.74196089e-02 4.59439991e-03 7.84302746e+01] [ 8.74193397e-02 9.96171567e-01 2.59776016e-04 6.49806716e+00] [-4.59952008e-03 1.42860675e-04 9.99989412e-01 -4.92163166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06439141799999 meters 0.0563264809466621 Centerline is valid? [True, True] Translation: X:78.49, Y:6.50, Z:-0.49 [[ 9.96350909e-01 -8.53259362e-02 2.08568187e-03 7.84912295e+01] [ 8.53258760e-02 9.96353091e-01 1.17987488e-04 6.49884648e+00] [-2.08814297e-03 6.04056913e-05 9.99997818e-01 -4.94270101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters 0.056154764281588554 Centerline is valid? [True, True] Translation: X:78.55, Y:6.50, Z:-0.50 [[ 9.96553227e-01 -8.29202561e-02 2.42849529e-03 7.85521403e+01] [ 8.29201675e-02 9.96556184e-01 1.37320524e-04 6.50016635e+00] [-2.43151865e-03 6.45240246e-05 9.99997042e-01 -4.95774123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters 0.055955688877069094 Centerline is valid? [True, True] Translation: X:78.61, Y:6.51, Z:-0.49 [[ 9.97018397e-01 -7.71457870e-02 1.68633282e-03 7.86118556e+01] [ 7.71457361e-02 9.97019822e-01 9.52913922e-05 6.51061087e+00] [-1.68865858e-03 3.50861157e-05 9.99998574e-01 -4.94881864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799998 meters 0.05608825554658495 Centerline is valid? [True, True] Translation: X:78.67, Y:6.52, Z:-0.49 [[ 9.97185524e-01 -7.49279451e-02 2.61429573e-03 7.86726306e+01] [ 7.49278151e-02 9.97188949e-01 1.47772189e-04 6.51653554e+00] [-2.61801908e-03 4.85271792e-05 9.99996572e-01 -4.94950617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30439141799998 meters 0.05654779885609408 Centerline is valid? [True, True] Translation: X:78.73, Y:6.52, Z:-0.49 [[ 9.97321161e-01 -7.29394763e-02 5.50768611e-03 7.87344466e+01] [ 7.29388698e-02 9.97336365e-01 3.11172538e-04 6.51534592e+00] [-5.51571240e-03 9.13854426e-05 9.99984784e-01 -4.94020222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36439141799998 meters 0.0565196639117465 Centerline is valid? [True, True] Translation: X:78.80, Y:6.52, Z:-0.49 [[ 9.97083648e-01 -7.62079706e-02 4.06744029e-03 7.87956121e+01] [ 7.62076689e-02 9.97091941e-01 2.29340858e-04 6.51846075e+00] [-4.07308953e-03 8.12981230e-05 9.99991702e-01 -4.94655025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42439141799998 meters 0.055368402234873555 Centerline is valid? [True, True] Translation: X:78.86, Y:6.53, Z:-0.50 [[ 9.96977952e-01 -7.76804829e-02 8.39685724e-04 7.88568544e+01] [ 7.76804701e-02 9.96978306e-01 4.78716922e-05 6.52842495e+00] [-8.40867146e-04 1.75001601e-05 9.99999646e-01 -4.96792488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48439141799999 meters 0.05638849229876551 Centerline is valid? [True, True] Translation: X:78.92, Y:6.53, Z:-0.50 [[ 9.97148809e-01 -7.54418080e-02 1.66903094e-03 7.89174454e+01] [ 7.54417564e-02 9.97150206e-01 9.39649714e-05 6.53104413e+00] [-1.67136343e-03 3.22175659e-05 9.99998603e-01 -4.98620968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters 0.05561257721258508 Centerline is valid? [True, True] Translation: X:78.98, Y:6.54, Z:-0.49 [[ 9.97589258e-01 -6.90712555e-02 6.69583366e-03 7.89768593e+01] [ 6.90702835e-02 9.97611725e-01 3.76580642e-04 6.53526431e+00] [-6.70585306e-03 8.68103260e-05 9.99977512e-01 -4.94517400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters 0.05632405799011683 Centerline is valid? [True, True] Translation: X:79.04, Y:6.54, Z:-0.50 [[ 9.98000980e-01 -6.29901706e-02 5.12665681e-03 7.90384825e+01] [ 6.29895204e-02 9.98014147e-01 2.88365091e-04 6.54036089e+00] [-5.13464019e-03 3.51370102e-05 9.99986817e-01 -4.97774987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66439141799998 meters 0.05611648525732617 Centerline is valid? [True, True] Translation: X:79.10, Y:6.54, Z:-0.50 [[ 9.98210264e-01 -5.97182119e-02 3.16300684e-03 7.91003610e+01] [ 5.97179473e-02 9.98215275e-01 1.78132842e-04 6.54430071e+00] [-3.16799952e-03 1.10742445e-05 9.99994982e-01 -4.99751419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72439141799998 meters 0.05541856010567845 Centerline is valid? [True, True] Translation: X:79.16, Y:6.55, Z:-0.50 [[ 9.98267119e-01 -5.87089188e-02 4.00268499e-03 7.91627852e+01] [ 5.87084892e-02 9.98275144e-01 2.24843889e-04 6.55060806e+00] [-4.00898128e-03 1.05373275e-05 9.99991964e-01 -4.96512430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78439141799998 meters 0.05618631678883222 Centerline is valid? [True, True] Translation: X:79.22, Y:6.55, Z:-0.50 [[ 9.98248296e-01 -5.90855591e-02 3.03904540e-03 7.92245555e+01] [ 5.90853137e-02 9.98252922e-01 1.70549599e-04 6.55118597e+00] [-3.04381297e-03 9.31210360e-06 9.99995368e-01 -4.99768809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84439141799999 meters 0.0564113701324839 Centerline is valid? [True, True] Translation: X:79.29, Y:6.55, Z:-0.50 [[ 9.98011914e-01 -6.29524333e-02 3.03483141e-03 7.92869141e+01] [ 6.29522078e-02 9.98016528e-01 1.69886662e-04 6.54991310e+00] [-3.03950669e-03 2.15004247e-05 9.99995380e-01 -5.03869344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters 0.05758779341299678 Centerline is valid? [True, True] Translation: X:79.35, Y:6.54, Z:-0.50 [[ 9.97385397e-01 -7.21387311e-02 4.28647534e-03 7.93478632e+01] [ 7.21383700e-02 9.97394605e-01 2.39007229e-04 6.53620103e+00] [-4.29254906e-03 7.08370239e-05 9.99990784e-01 -5.04345856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters 0.05562602882767161 Centerline is valid? [True, True] Translation: X:79.41, Y:6.55, Z:-0.50 [[ 9.96977267e-01 -7.76846380e-02 1.19382529e-03 7.94082005e+01] [ 7.76846140e-02 9.96977982e-01 6.65670140e-05 6.54802827e+00] [-1.19538876e-03 2.63760568e-05 9.99999285e-01 -4.99713572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02439141799998 meters 0.056477523121176765 Centerline is valid? [True, True] Translation: X:79.47, Y:6.54, Z:-0.51 [[ 9.96813980e-01 -7.97315220e-02 -2.18501105e-03 7.94690511e+01] [ 7.97314467e-02 9.96816373e-01 -1.21676104e-04 6.54436677e+00] [ 2.18775621e-03 -5.29256503e-05 9.99997605e-01 -5.08877297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08439141799998 meters 0.05670305521539619 Centerline is valid? [True, True] Translation: X:79.53, Y:6.54, Z:-0.51 [[ 9.96804432e-01 -7.98694162e-02 1.34181473e-03 7.95313513e+01] [ 7.98693872e-02 9.96805335e-01 7.53032508e-05 6.54258367e+00] [-1.34354251e-03 3.21073063e-05 9.99999097e-01 -5.11498845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14439141799998 meters 0.05530010450237406 Centerline is valid? [True, True] Translation: X:79.59, Y:6.55, Z:-0.50 [[ 9.97255451e-01 -7.34981445e-02 8.92118154e-03 7.95903150e+01] [ 7.34966455e-02 9.97295341e-01 4.96200605e-04 6.55128477e+00] [-8.93352261e-03 1.60838158e-04 9.99960082e-01 -5.00263554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20439141799999 meters 0.05571151723484083 Centerline is valid? [True, True] Translation: X:79.65, Y:6.56, Z:-0.50 [[ 9.97857438e-01 -6.50830085e-02 6.68840835e-03 7.96493364e+01] [ 6.50819766e-02 9.97879851e-01 3.72051604e-04 6.56193065e+00] [-6.69844217e-03 6.40403754e-05 9.99977563e-01 -4.96376292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters 0.05597971986793537 Centerline is valid? [True, True] Translation: X:79.71, Y:6.57, Z:-0.50 [[ 9.98327598e-01 -5.78059564e-02 6.92002571e-04 7.97113807e+01] [ 5.78059432e-02 9.98327838e-01 3.90808658e-05 6.56782198e+00] [-6.93104537e-04 9.86354459e-07 9.99999760e-01 -5.04047768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters 0.05609960581225005 Centerline is valid? [True, True] Translation: X:79.77, Y:6.57, Z:-0.51 [[ 9.98362671e-01 -5.71391742e-02 2.66325757e-03 7.97735902e+01] [ 5.71389826e-02 9.98366223e-01 1.48006192e-04 6.56746796e+00] [-2.66736335e-03 4.41197069e-06 9.99996443e-01 -5.06948097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799998 meters 0.05470290128117982 Centerline is valid? [True, True] Translation: X:79.84, Y:6.57, Z:-0.50 [[ 9.98357873e-01 -5.72231421e-02 2.65897424e-03 7.98358843e+01] [ 5.72229510e-02 9.98361414e-01 1.47935879e-04 6.57409129e+00] [-2.66308263e-03 4.46140310e-06 9.99996454e-01 -5.02909760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44439141799998 meters 0.05673482370689433 Centerline is valid? [True, True] Translation: X:79.90, Y:6.57, Z:-0.50 [[ 9.98116158e-01 -6.13521014e-02 2.35751331e-04 7.98977402e+01] [ 6.13520999e-02 9.98116185e-01 1.36492422e-05 6.57165187e+00] [-2.36144629e-04 8.40309987e-07 9.99999972e-01 -5.03219555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50439141799998 meters 0.056760296228860946 Centerline is valid? [True, True] Translation: X:79.96, Y:6.57, Z:-0.50 [[ 9.97702631e-01 -6.77400504e-02 -8.63825556e-04 7.99594120e+01] [ 6.77400345e-02 9.97703005e-01 -4.76159083e-05 6.56950473e+00] [ 8.65066857e-04 -1.10090560e-05 9.99999626e-01 -5.04818643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56439141799999 meters 0.056696015124692786 Centerline is valid? [True, True] Translation: X:80.02, Y:6.57, Z:-0.50 [[ 9.96792864e-01 -8.00164166e-02 1.16607721e-03 8.00207387e+01] [ 8.00163959e-02 9.96793545e-01 6.44584607e-05 6.56521789e+00] [-1.16749598e-03 2.90535624e-05 9.99999318e-01 -5.04654416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters 0.05629973635131885 Centerline is valid? [True, True] Translation: X:80.08, Y:6.57, Z:-0.50 [[ 9.96368441e-01 -8.51038481e-02 2.69536095e-03 8.00808476e+01] [ 8.51037565e-02 9.96372083e-01 1.48876298e-04 6.56626905e+00] [-2.69825235e-03 8.10496975e-05 9.99996356e-01 -5.03808776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters 0.055125257742998285 Centerline is valid? [True, True] Translation: X:80.14, Y:6.57, Z:-0.50 [[ 9.96125117e-01 -8.79231544e-02 2.06662343e-03 8.01411897e+01] [ 8.79231066e-02 9.96127258e-01 1.14178693e-04 6.57359147e+00] [-2.06865888e-03 6.79676877e-05 9.99997858e-01 -5.03444583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799998 meters 0.05676888987346842 Centerline is valid? [True, True] Translation: X:80.20, Y:6.57, Z:-0.50 [[ 9.95868141e-01 -9.06141122e-02 5.97738240e-03 8.02012305e+01] [ 9.06137618e-02 9.95886056e-01 3.29961422e-04 6.56687192e+00] [-5.98269095e-03 2.13035037e-04 9.99982081e-01 -5.03451579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80439141799998 meters 0.05594134890771277 Centerline is valid? [True, True] Translation: X:80.26, Y:6.57, Z:-0.50 [[ 9.95529679e-01 -9.42619308e-02 5.94536611e-03 8.02619312e+01] [ 9.42616503e-02 9.95547404e-01 3.27998422e-04 6.57123165e+00] [-5.94981157e-03 2.33887858e-04 9.99982272e-01 -5.03637828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86439141799998 meters 0.058777353826644244 Centerline is valid? [True, True] Translation: X:80.32, Y:6.57, Z:-0.50 [[ 9.95676456e-01 -9.28448990e-02 2.86694339e-03 8.03229377e+01] [ 9.28448278e-02 9.95680578e-01 1.58203431e-04 6.56777674e+00] [-2.86924824e-03 1.08661435e-04 9.99995878e-01 -5.04477497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92439141799998 meters 0.05582435795331617 Centerline is valid? [True, True] Translation: X:80.38, Y:6.58, Z:-0.51 [[ 9.96272005e-01 -8.62038478e-02 -3.31503814e-03 8.03828503e+01] [ 8.62037167e-02 9.96277514e-01 -1.82684621e-04 6.58196683e+00] [ 3.31844607e-03 -1.03765035e-04 9.99994489e-01 -5.10597096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98439141799999 meters 0.05610610508534192 Centerline is valid? [True, True] Translation: X:80.44, Y:6.59, Z:-0.51 [[ 9.97020723e-01 -7.71325584e-02 4.96082811e-04 8.04434960e+01] [ 7.71325544e-02 9.97020846e-01 2.72373047e-05 6.59001557e+00] [-4.96705788e-04 1.11079772e-05 9.99999877e-01 -5.10712734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters 0.05641127911094173 Centerline is valid? [True, True] Translation: X:80.50, Y:6.60, Z:-0.51 [[ 9.97492801e-01 -7.07153448e-02 2.72995396e-03 8.05034500e+01] [ 7.07151974e-02 9.97496535e-01 1.50577343e-04 6.59969864e+00] [-2.73376775e-03 4.28494175e-05 9.99996262e-01 -5.06638250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters 0.05602631895258758 Centerline is valid? [True, True] Translation: X:80.57, Y:6.60, Z:-0.51 [[ 9.97560183e-01 -6.97903633e-02 1.72830842e-03 8.05652729e+01] [ 6.97903026e-02 9.97561680e-01 9.55026855e-05 6.60282873e+00] [-1.73075942e-03 2.53494913e-05 9.99998502e-01 -5.07149476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16439141799998 meters 0.05545223322504885 Centerline is valid? [True, True] Translation: X:80.63, Y:6.61, Z:-0.50 [[ 9.97578543e-01 -6.95489055e-02 -1.35729076e-05 8.06271679e+01] [ 6.95489055e-02 9.97578543e-01 -2.66668065e-08 6.61234759e+00] [ 1.35418960e-05 -9.17378636e-07 1.00000000e+00 -5.04295860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22439141799998 meters 0.056383459529834604 Centerline is valid? [True, True] Translation: X:80.69, Y:6.61, Z:-0.51 [[ 9.97580483e-01 -6.95135321e-02 -1.02419765e-03 8.06887908e+01] [ 6.95135114e-02 9.97581009e-01 -5.58657817e-05 6.61313713e+00] [ 1.02560355e-03 -1.54649613e-05 9.99999474e-01 -5.06697940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28439141799998 meters 0.055190746734247544 Centerline is valid? [True, True] Translation: X:80.75, Y:6.62, Z:-0.51 [[ 9.97463019e-01 -7.11840266e-02 -6.00633252e-04 8.07513654e+01] [ 7.11840201e-02 9.97463199e-01 -3.22314129e-05 6.61544192e+00] [ 6.01403927e-04 -1.06058471e-05 9.99999819e-01 -5.10827117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34439141799999 meters 0.05590553715303208 Centerline is valid? [True, True] Translation: X:80.81, Y:6.62, Z:-0.51 [[ 9.97363535e-01 -7.25377793e-02 2.06130221e-03 8.08125552e+01] [ 7.25376998e-02 9.97365665e-01 1.13403152e-04 6.61751772e+00] [-2.06409806e-03 3.64179525e-05 9.99997869e-01 -5.10072690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters 0.05575234282331042 Centerline is valid? [True, True] Translation: X:80.87, Y:6.62, Z:-0.51 [[ 9.97380406e-01 -7.22354285e-02 3.79063549e-03 8.08735797e+01] [ 7.22351610e-02 9.97387607e-01 2.07593958e-04 6.62004344e+00] [-3.79572849e-03 6.67670187e-05 9.99992794e-01 -5.07206086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters 0.05639588031469425 Centerline is valid? [True, True] Translation: X:80.94, Y:6.62, Z:-0.51 [[ 9.97282423e-01 -7.36295399e-02 2.54168230e-03 8.09355845e+01] [ 7.36294243e-02 9.97285660e-01 1.39150000e-04 6.61990421e+00] [-2.54502886e-03 4.83707547e-05 9.99996760e-01 -5.09198639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52439141799998 meters 0.05649160834489444 Centerline is valid? [True, True] Translation: X:81.00, Y:6.62, Z:-0.51 [[ 9.96891505e-01 -7.87094034e-02 3.48662746e-03 8.09958879e+01] [ 7.87092199e-02 9.96897599e-01 1.90030491e-04 6.62106080e+00] [-3.49076773e-03 8.49899447e-05 9.99993904e-01 -5.08363231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58439141799998 meters 0.057047091202667446 Centerline is valid? [True, True] Translation: X:81.06, Y:6.62, Z:-0.51 [[ 9.96706795e-01 -8.10824653e-02 1.09461746e-03 8.10559490e+01] [ 8.10824487e-02 9.96707396e-01 5.96543359e-05 6.61824733e+00] [-1.09585024e-03 2.92963822e-05 9.99999399e-01 -5.11737959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64439141799998 meters 0.05551864737105964 Centerline is valid? [True, True] Translation: X:81.12, Y:6.63, Z:-0.51 [[ 9.96516720e-01 -8.33421411e-02 -2.91793533e-03 8.11162659e+01] [ 8.33420329e-02 9.96520988e-01 -1.58880253e-04 6.63121991e+00] [ 2.92102522e-03 -8.48598334e-05 9.99995730e-01 -5.13477633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70439141799999 meters 0.05628551378816247 Centerline is valid? [True, True] Translation: X:81.18, Y:6.64, Z:-0.51 [[ 9.96643113e-01 -8.18565000e-02 -1.42099647e-03 8.11763938e+01] [ 8.18564733e-02 9.96644125e-01 -7.70663386e-05 6.63630275e+00] [ 1.42253617e-03 -3.95101242e-05 9.99998987e-01 -5.12385270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters 0.055614755195623575 Centerline is valid? [True, True] Translation: X:81.24, Y:6.65, Z:-0.51 [[ 9.96639497e-01 -8.18908527e-02 -1.89763367e-03 8.12377143e+01] [ 8.18908060e-02 9.96641302e-01 -1.02403518e-04 6.64764965e+00] [ 1.89964600e-03 -5.33393596e-05 9.99998194e-01 -5.13690740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters 0.05461442935767715 Centerline is valid? [True, True] Translation: X:81.30, Y:6.65, Z:-0.51 [[ 9.95960938e-01 -8.97873662e-02 -1.98499697e-04 8.12976795e+01] [ 8.97873659e-02 9.95960957e-01 -1.08175034e-05 6.65057938e+00] [ 1.98669224e-04 -7.04895415e-06 9.99999980e-01 -5.14006903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799998 meters 0.060796349542521784 Centerline is valid? [True, True] Translation: X:81.36, Y:6.63, Z:-0.52 [[ 9.95087395e-01 -9.90003650e-02 -5.88350645e-05 8.13588516e+01] [ 9.90003650e-02 9.95087397e-01 -3.15227742e-06 6.62964376e+00] [ 5.88581077e-05 -2.68790133e-06 9.99999998e-01 -5.16661118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94439141799998 meters 0.05417551477664721 Centerline is valid? [True, True] Translation: X:81.42, Y:6.66, Z:-0.52 [[ 9.94499350e-01 -1.04702302e-01 -2.91048154e-03 8.14180161e+01] [ 1.04702287e-01 9.94503598e-01 -1.57950181e-04 6.66358382e+00] [ 2.91102211e-03 -1.47652720e-04 9.99995752e-01 -5.15749109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00439141799998 meters 0.05366553699960178 Centerline is valid? [True, True] Translation: X:81.48, Y:6.67, Z:-0.52 [[ 9.93976647e-01 -1.09504350e-01 -4.38428570e-03 8.14775350e+01] [ 1.09504362e-01 9.93986287e-01 -2.38110882e-04 6.66858242e+00] [ 4.38399404e-03 -2.43421752e-04 9.99990361e-01 -5.16944279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06439141799999 meters 0.05325675415089035 Centerline is valid? [True, True] Translation: X:81.54, Y:6.68, Z:-0.52 [[ 9.94206526e-01 -1.07444979e-01 -2.99346752e-03 8.15375666e+01] [ 1.07444976e-01 9.94211019e-01 -1.62543071e-04 6.67541948e+00] [ 2.99360283e-03 -1.60031663e-04 9.99995506e-01 -5.17526915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters 0.05452332378445164 Centerline is valid? [True, True] Translation: X:81.60, Y:6.68, Z:-0.52 [[ 9.95110049e-01 -9.87677219e-02 -9.63201906e-04 8.15974549e+01] [ 9.87677175e-02 9.95110514e-01 -5.22625375e-05 6.68305438e+00] [ 9.63654195e-04 -4.31262774e-05 9.99999535e-01 -5.19423019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters 0.05361055319494135 Centerline is valid? [True, True] Translation: X:81.66, Y:6.69, Z:-0.52 [[ 9.95429857e-01 -9.54855233e-02 1.38346023e-03 8.16571007e+01] [ 9.54855109e-02 9.95430817e-01 7.51357783e-05 6.68941099e+00] [-1.38431332e-03 5.73080096e-05 9.99999040e-01 -5.17947504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799998 meters 0.05457431580783956 Centerline is valid? [True, True] Translation: X:81.72, Y:6.70, Z:-0.52 [[ 9.95749421e-01 -9.20605894e-02 2.81759157e-03 8.17167647e+01] [ 9.20605246e-02 9.95753401e-01 1.52980465e-04 6.69585927e+00] [-2.81970986e-03 1.07058749e-04 9.99996019e-01 -5.16353551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30439141799998 meters 0.05524466731381452 Centerline is valid? [True, True] Translation: X:81.78, Y:6.71, Z:-0.52 [[ 9.96889584e-01 -7.87879213e-02 1.90259763e-03 8.17764141e+01] [ 7.87878675e-02 9.96891399e-01 1.03293401e-04 6.70577858e+00] [-1.90482148e-03 4.69294940e-05 9.99998185e-01 -5.17209773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36439141799998 meters 0.055402179824043885 Centerline is valid? [True, True] Translation: X:81.84, Y:6.72, Z:-0.52 [[ 9.97832355e-01 -6.57792637e-02 1.91839157e-03 8.18365279e+01] [ 6.57791850e-02 9.97834199e-01 1.04163545e-04 6.72270793e+00] [-1.92108851e-03 2.22524782e-05 9.99998154e-01 -5.19841636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42439141799998 meters 0.05511022545935067 Centerline is valid? [True, True] Translation: X:81.90, Y:6.73, Z:-0.53 [[ 9.98150043e-01 -6.07790757e-02 1.54809765e-03 8.18979768e+01] [ 6.07790182e-02 9.98151243e-01 8.41940541e-05 6.72545474e+00] [-1.55035283e-03 1.00535563e-05 9.99998798e-01 -5.25709289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters 0.05436802189040712 Centerline is valid? [True, True] Translation: X:81.96, Y:6.74, Z:-0.52 [[ 9.98506550e-01 -5.45032644e-02 3.75022460e-03 8.19595193e+01] [ 5.45028836e-02 9.98513592e-01 2.03751660e-04 6.73662271e+00] [-3.75575536e-03 9.50687217e-07 9.99992947e-01 -5.20143556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters 0.053262710801750726 Centerline is valid? [True, True] Translation: X:82.02, Y:6.75, Z:-0.52 [[ 9.98794843e-01 -4.89587023e-02 3.45076579e-03 8.20205698e+01] [ 4.89583480e-02 9.98800804e-01 1.87120081e-04 6.74762819e+00] [-3.45578880e-03 -1.79507789e-05 9.99994029e-01 -5.16854929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799998 meters 0.05576323174704067 Centerline is valid? [True, True] Translation: X:82.08, Y:6.74, Z:-0.53 [[ 9.98751052e-01 -4.99331600e-02 1.73647902e-03 8.20843299e+01] [ 4.99330713e-02 9.98752562e-01 9.44034087e-05 6.74164426e+00] [-1.73902673e-03 -7.57777281e-06 9.99998488e-01 -5.27790664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66439141799998 meters 0.055332536292304335 Centerline is valid? [True, True] Translation: X:82.15, Y:6.73, Z:-0.53 [[ 9.98146476e-01 -6.03918792e-02 7.51220487e-03 8.21463051e+01] [ 6.03905428e-02 9.98174743e-01 4.04810681e-04 6.73327713e+00] [-7.52294044e-03 4.96057752e-05 9.99971701e-01 -5.25649697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72439141799998 meters 0.054183575374575625 Centerline is valid? [True, True] Translation: X:82.21, Y:6.74, Z:-0.52 [[ 9.97788811e-01 -6.60593360e-02 7.32477466e-03 8.22070001e+01] [ 6.60582230e-02 9.97815692e-01 3.94053422e-04 6.73543625e+00] [-7.33480601e-03 9.06795017e-05 9.99973096e-01 -5.21938291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78439141799998 meters 0.05414707923530685 Centerline is valid? [True, True] Translation: X:82.27, Y:6.73, Z:-0.52 [[ 9.97335068e-01 -7.29206670e-02 2.31050192e-03 8.22672516e+01] [ 7.29205748e-02 9.97337743e-01 1.24235092e-04 6.72977607e+00] [-2.31341007e-03 4.45791144e-05 9.99997323e-01 -5.22421381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84439141799999 meters 0.05369011138730953 Centerline is valid? [True, True] Translation: X:82.33, Y:6.73, Z:-0.53 [[ 9.96886876e-01 -7.86002966e-02 6.20892710e-03 8.23286078e+01] [ 7.85997403e-02 9.96906199e-01 3.33935587e-04 6.72540159e+00] [-6.21596535e-03 1.55124054e-04 9.99980669e-01 -5.25996536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters 0.054887254262675836 Centerline is valid? [True, True] Translation: X:82.39, Y:6.72, Z:-0.53 [[ 9.96795391e-01 -7.97084158e-02 6.74663935e-03 8.23899509e+01] [ 7.97077850e-02 9.96818207e-01 3.62762798e-04 6.72226748e+00] [-6.75408819e-03 1.76159394e-04 9.99977175e-01 -5.29005991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters 0.055548150043461746 Centerline is valid? [True, True] Translation: X:82.45, Y:6.72, Z:-0.53 [[ 9.96897001e-01 -7.86322260e-02 3.65260426e-03 8.24516833e+01] [ 7.86320342e-02 9.96903689e-01 1.96300178e-04 6.71955298e+00] [-3.65673018e-03 9.15206444e-05 9.99993310e-01 -5.31767124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02439141799998 meters 0.053450885177551664 Centerline is valid? [True, True] Translation: X:82.51, Y:6.73, Z:-0.53 [[ 9.96970081e-01 -7.77198895e-02 3.20556128e-03 8.25137769e+01] [ 7.77197378e-02 9.96975232e-01 1.72052283e-04 6.72598395e+00] [-3.20923708e-03 7.76044034e-05 9.99994847e-01 -5.30978905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08439141799998 meters 0.05361104033235969 Centerline is valid? [True, True] Translation: X:82.57, Y:6.73, Z:-0.53 [[ 9.97320207e-01 -7.31447492e-02 1.50016363e-03 8.25738377e+01] [ 7.31447112e-02 9.97321335e-01 8.02533645e-05 6.73468025e+00] [-1.50201531e-03 2.96907336e-05 9.99998872e-01 -5.28486527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14439141799998 meters 0.05425288311984839 Centerline is valid? [True, True] Translation: X:82.63, Y:6.74, Z:-0.53 [[ 9.97625759e-01 -6.88679868e-02 -2.12628719e-04 8.26345419e+01] [ 6.88679860e-02 9.97625782e-01 -1.12668676e-05 6.73516795e+00] [ 2.12899818e-04 -3.40319422e-06 9.99999977e-01 -5.32711921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20439141799999 meters 0.05442315346413428 Centerline is valid? [True, True] Translation: X:82.70, Y:6.73, Z:-0.54 [[ 9.97987136e-01 -6.34156005e-02 3.71849933e-04 8.26961346e+01] [ 6.34155975e-02 9.97987205e-01 2.00094236e-05 6.73355107e+00] [-3.72370385e-04 3.61193831e-06 9.99999931e-01 -5.37841197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters 0.054850219399810246 Centerline is valid? [True, True] Translation: X:82.76, Y:6.74, Z:-0.53 [[ 9.98329830e-01 -5.76596151e-02 3.59444595e-03 8.27578795e+01] [ 5.76592972e-02 9.98336300e-01 1.92107122e-04 6.73929138e+00] [-3.59954270e-03 1.54669565e-05 9.99993522e-01 -5.31634329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters 0.05455364412341714 Centerline is valid? [True, True] Translation: X:82.82, Y:6.74, Z:-0.53 [[ 9.98421124e-01 -5.61248163e-02 2.29451942e-03 8.28213133e+01] [ 5.61246818e-02 9.98423760e-01 1.23004352e-04 6.74121472e+00] [-2.29780631e-03 5.96902890e-06 9.99997360e-01 -5.30309347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799998 meters 0.05407996616710779 Centerline is valid? [True, True] Translation: X:82.88, Y:6.74, Z:-0.53 [[ 9.98242470e-01 -5.92522907e-02 1.06683567e-03 8.28836081e+01] [ 5.92522632e-02 9.98243040e-01 5.73972022e-05 6.73951367e+00] [-1.06836220e-03 5.91610330e-06 9.99999429e-01 -5.29927162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44439141799998 meters 0.05517010827602267 Centerline is valid? [True, True] Translation: X:82.95, Y:6.74, Z:-0.53 [[ 9.98115512e-01 -6.13320552e-02 1.95018941e-03 8.29450376e+01] [ 6.13319693e-02 9.98117417e-01 1.03889953e-04 6.73885803e+00] [-1.95288980e-03 1.59147835e-05 9.99998093e-01 -5.30529560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50439141799998 meters 0.056105661276493905 Centerline is valid? [True, True] Translation: X:83.01, Y:6.73, Z:-0.54 [[ 9.98000620e-01 -6.31754947e-02 1.90260571e-03 8.30074904e+01] [ 6.31754161e-02 9.98002433e-01 1.01445536e-04 6.72970205e+00] [-1.90521400e-03 1.89551995e-05 9.99998185e-01 -5.36424771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56439141799999 meters 0.055089271095577576 Centerline is valid? [True, True] Translation: X:83.07, Y:6.73, Z:-0.53 [[ 9.97569110e-01 -6.96419448e-02 2.42305834e-03 8.30683125e+01] [ 6.96418383e-02 9.97572051e-01 1.28398280e-04 6.72527788e+00] [-2.42611718e-03 4.06600787e-05 9.99997056e-01 -5.32547898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters 0.05552282707396039 Centerline is valid? [True, True] Translation: X:83.13, Y:6.73, Z:-0.53 [[ 9.97212182e-01 -7.45647583e-02 2.82156372e-03 8.31289016e+01] [ 7.45646339e-02 9.97216172e-01 1.49419062e-04 6.72817989e+00] [-2.82485037e-03 6.13863572e-05 9.99996008e-01 -5.29141985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters 0.055926728060845414 Centerline is valid? [True, True] Translation: X:83.19, Y:6.72, Z:-0.53 [[ 9.96856716e-01 -7.91010397e-02 4.43996125e-03 8.31900598e+01] [ 7.91007769e-02 9.96866597e-01 2.35054874e-04 6.71751334e+00] [-4.44464215e-03 1.16888354e-04 9.99990116e-01 -5.32804256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799998 meters 0.05658361741213934 Centerline is valid? [True, True] Translation: X:83.25, Y:6.71, Z:-0.53 [[ 9.96746462e-01 -8.04943628e-02 4.14110903e-03 8.32523550e+01] [ 8.04941458e-02 9.96755057e-01 2.19314370e-04 6.71373730e+00] [-4.14532493e-03 1.14734212e-04 9.99991402e-01 -5.33315517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80439141799998 meters 0.0554279299871382 Centerline is valid? [True, True] Translation: X:83.31, Y:6.72, Z:-0.53 [[ 9.96742199e-01 -8.05166385e-02 4.69678176e-03 8.33148645e+01] [ 8.05163605e-02 9.96753256e-01 2.48537663e-04 6.71914031e+00] [-4.70154393e-03 1.30439797e-04 9.99988939e-01 -5.32479723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86439141799998 meters 0.056950624590251187 Centerline is valid? [True, True] Translation: X:83.38, Y:6.71, Z:-0.53 [[ 9.96674957e-01 -8.13945597e-02 3.73567038e-03 8.33764319e+01] [ 8.13943915e-02 9.96681952e-01 1.97297402e-04 6.70898797e+00] [-3.73933418e-03 1.07421238e-04 9.99993003e-01 -5.32603562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92439141799998 meters 0.05579617185997679 Centerline is valid? [True, True] Translation: X:83.44, Y:6.71, Z:-0.53 [[ 9.96770022e-01 -8.03029150e-02 9.82623092e-04 8.34385830e+01] [ 8.03029024e-02 9.96770506e-01 5.22966364e-05 6.71276408e+00] [-9.83649289e-04 2.67797669e-05 9.99999516e-01 -5.33633986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters 0.05624073040922018 Centerline is valid? [True, True] Translation: X:83.50, Y:6.71, Z:-0.54 [[ 9.96728189e-01 -8.08172159e-02 -1.22298192e-03 8.35009287e+01] [ 8.08171989e-02 9.96728938e-01 -6.34407921e-05 6.70844320e+00] [ 1.22410858e-03 -3.56047476e-05 9.99999250e-01 -5.40099733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters 0.05681034301310396 Centerline is valid? [True, True] Translation: X:83.56, Y:6.71, Z:-0.54 [[ 9.96779090e-01 -8.01960741e-02 1.90884444e-04 8.35631035e+01] [ 8.01960735e-02 9.96779108e-01 1.06549123e-05 6.70675259e+00] [-1.91124108e-04 4.68758915e-06 9.99999982e-01 -5.40652936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799998 meters 0.05783650110297871 Centerline is valid? [True, True] Translation: X:83.62, Y:6.71, Z:-0.53 [[ 9.97230552e-01 -7.42577954e-02 4.12392844e-03 8.36221167e+01] [ 7.42575380e-02 9.97239074e-01 2.15719022e-04 6.71153780e+00] [-4.12856140e-03 9.11111731e-05 9.99991473e-01 -5.31911211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16439141799998 meters 0.05657409033128802 Centerline is valid? [True, True] Translation: X:83.68, Y:6.72, Z:-0.53 [[ 9.97446086e-01 -7.13444183e-02 3.35847261e-03 8.36832648e+01] [ 7.13442306e-02 9.97451738e-01 1.75810670e-04 6.71933851e+00] [-3.36245745e-03 6.42459799e-05 9.99994345e-01 -5.32343867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22439141799998 meters 0.05734316745636495 Centerline is valid? [True, True] Translation: X:83.75, Y:6.71, Z:-0.54 [[ 9.97430028e-01 -7.16387022e-02 1.11172280e-03 8.37450866e+01] [ 7.16386816e-02 9.97430647e-01 5.84215468e-05 6.71268025e+00] [-1.11305164e-03 2.13709508e-05 9.99999380e-01 -5.40684968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28439141799998 meters 0.05727157810380511 Centerline is valid? [True, True] Translation: X:83.81, Y:6.71, Z:-0.54 [[ 9.97358461e-01 -7.25799306e-02 2.87301694e-03 8.38070893e+01] [ 7.25797991e-02 9.97362597e-01 1.50148433e-04 6.71337883e+00] [-2.87633740e-03 5.87711820e-05 9.99995862e-01 -5.38749514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34439141799999 meters 0.056468714180191636 Centerline is valid? [True, True] Translation: X:83.87, Y:6.72, Z:-0.54 [[ 9.97733413e-01 -6.72414965e-02 2.57246114e-03 8.38662897e+01] [ 6.72413738e-02 9.97736729e-01 1.34273184e-04 6.72017373e+00] [-2.57566769e-03 3.90069790e-05 9.99996682e-01 -5.35837202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters 0.05592327015861658 Centerline is valid? [True, True] Translation: X:83.93, Y:6.73, Z:-0.54 [[ 9.98329585e-01 -5.77737805e-02 4.78679165e-04 8.39254983e+01] [ 5.77737752e-02 9.98329700e-01 2.49853242e-05 6.72642671e+00] [-4.79323124e-04 2.71151413e-06 9.99999885e-01 -5.41457524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters 0.05722612110588163 Centerline is valid? [True, True] Translation: X:83.99, Y:6.73, Z:-0.54 [[ 9.98620871e-01 -5.24701645e-02 1.79965870e-03 8.39872953e+01] [ 5.24700802e-02 9.98622492e-01 9.40673431e-05 6.73046628e+00] [-1.80211538e-03 4.90624187e-07 9.99998376e-01 -5.41664244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52439141799998 meters 0.05684482331445596 Centerline is valid? [True, True] Translation: X:84.05, Y:6.73, Z:-0.54 [[ 9.98830024e-01 -4.82238123e-02 3.61205885e-03 8.40506269e+01] [ 4.82234459e-02 9.98836555e-01 1.88536260e-04 6.73498636e+00] [-3.61694836e-03 -1.41297528e-05 9.99993459e-01 -5.37227031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58439141799998 meters 0.056000211132783896 Centerline is valid? [True, True] Translation: X:84.11, Y:6.74, Z:-0.54 [[ 9.98797075e-01 -4.89612822e-02 2.68238833e-03 8.41135168e+01] [ 4.89610828e-02 9.98800677e-01 1.39975602e-04 6.73880476e+00] [-2.68602466e-03 -8.47458546e-06 9.99996393e-01 -5.36433926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64439141799998 meters 0.05722564714666399 Centerline is valid? [True, True] Translation: X:84.18, Y:6.73, Z:-0.54 [[ 9.98547182e-01 -5.38773912e-02 -8.66880380e-04 8.41763773e+01] [ 5.38773726e-02 9.98547559e-01 -4.48678703e-05 6.73044122e+00] [ 8.68038651e-04 -1.90255176e-06 9.99999623e-01 -5.43328285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70439141799999 meters 0.05817609190271403 Centerline is valid? [True, True] Translation: X:84.24, Y:6.72, Z:-0.54 [[ 9.98135940e-01 -6.10016003e-02 1.85729570e-03 8.42385156e+01] [ 6.10015252e-02 9.98137668e-01 9.71203048e-05 6.72341048e+00] [-1.85976129e-03 1.63586035e-05 9.99998271e-01 -5.41281688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters 0.05769488187522883 Centerline is valid? [True, True] Translation: X:84.30, Y:6.72, Z:-0.54 [[ 9.97825881e-01 -6.59014319e-02 7.15692670e-04 8.42987762e+01] [ 6.59014222e-02 9.97826138e-01 3.71503764e-05 6.71559542e+00] [-7.16585116e-04 1.00955578e-05 9.99999743e-01 -5.44419617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters 0.05721927799409177 Centerline is valid? [True, True] Translation: X:84.36, Y:6.72, Z:-0.54 [[ 9.97400912e-01 -7.20427000e-02 1.12671983e-03 8.43599705e+01] [ 7.20426798e-02 9.97401548e-01 5.85267072e-05 6.71886380e+00] [-1.12800853e-03 2.27973251e-05 9.99999364e-01 -5.41245137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799998 meters 0.05997172040280616 Centerline is valid? [True, True] Translation: X:84.42, Y:6.70, Z:-0.54 [[ 9.97046003e-01 -7.67500662e-02 2.94873912e-03 8.44204244e+01] [ 7.67499487e-02 9.97050361e-01 1.53129224e-04 6.70344989e+00] [-2.95179408e-03 7.36386955e-05 9.99995641e-01 -5.38838345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94439141799998 meters 0.05677586834493185 Centerline is valid? [True, True] Translation: X:84.48, Y:6.72, Z:-0.54 [[ 9.96925120e-01 -7.82892361e-02 3.33167166e-03 8.44811878e+01] [ 7.82890945e-02 9.96930684e-01 1.73097841e-04 6.72175594e+00] [-3.33499740e-03 8.82679713e-05 9.99994435e-01 -5.36914926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00439141799998 meters 0.058402687149067614 Centerline is valid? [True, True] Translation: X:84.54, Y:6.71, Z:-0.54 [[ 9.96679314e-01 -8.14002368e-02 2.08477674e-03 8.45421656e+01] [ 8.14001888e-02 9.96681493e-01 1.07982613e-04 6.70772683e+00] [-2.08664820e-03 6.20771830e-05 9.99997821e-01 -5.42853252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06439141799999 meters 0.058371071467757565 Centerline is valid? [True, True] Translation: X:84.60, Y:6.71, Z:-0.54 [[ 9.96644790e-01 -8.18258261e-02 1.92295170e-03 8.46040491e+01] [ 8.18257860e-02 9.96646643e-01 9.96774997e-05 6.70998827e+00] [-1.92465955e-03 5.80039738e-05 9.99998146e-01 -5.44286054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters 0.05768551495914816 Centerline is valid? [True, True] Translation: X:84.66, Y:6.72, Z:-0.54 [[ 9.96928054e-01 -7.82975208e-02 1.98828731e-03 8.46647470e+01] [ 7.82974713e-02 9.96930035e-01 1.02844638e-04 6.71811413e+00] [-1.99023582e-03 5.31491641e-05 9.99998018e-01 -5.41071880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters 0.05807904201231501 Centerline is valid? [True, True] Translation: X:84.72, Y:6.72, Z:-0.54 [[ 9.97206782e-01 -7.46900508e-02 1.72551164e-04 8.47248031e+01] [ 7.46900503e-02 9.97206797e-01 8.92087959e-06 6.71795714e+00] [-1.72735494e-04 3.99189348e-06 9.99999985e-01 -5.43031475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799998 meters 0.05675834124440378 Centerline is valid? [True, True] Translation: X:84.79, Y:6.72, Z:-0.54 [[ 9.97521500e-01 -7.02830055e-02 3.34002818e-03 8.47854663e+01] [ 7.02828211e-02 9.97527090e-01 1.72702554e-04 6.72238448e+00] [-3.34390665e-03 6.24720920e-05 9.99994407e-01 -5.40792469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30439141799998 meters 0.05807731895093698 Centerline is valid? [True, True] Translation: X:84.85, Y:6.72, Z:-0.54 [[ 9.97472535e-01 -7.10003684e-02 2.73664258e-03 8.48474394e+01] [ 7.10002471e-02 9.97476288e-01 1.41569576e-04 6.72280891e+00] [-2.73978757e-03 5.30905350e-05 9.99996245e-01 -5.43012372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36439141799998 meters 0.05800911344962381 Centerline is valid? [True, True] Translation: X:84.91, Y:6.72, Z:-0.55 [[ 9.97195351e-01 -7.48374852e-02 -8.84798089e-04 8.49075733e+01] [ 7.48374742e-02 9.97195743e-01 -4.55095277e-05 6.71715954e+00] [ 8.85722707e-04 -2.08341647e-05 9.99999608e-01 -5.47594218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42439141799998 meters 0.058850695728984714 Centerline is valid? [True, True] Translation: X:84.97, Y:6.72, Z:-0.55 [[ 9.97128236e-01 -7.57053179e-02 -1.99647049e-03 8.49693178e+01] [ 7.57052639e-02 9.97130233e-01 -1.02748917e-04 6.72382129e+00] [ 1.99851973e-03 -4.86894794e-05 9.99998002e-01 -5.46192836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters 0.058748404459748986 Centerline is valid? [True, True] Translation: X:85.03, Y:6.73, Z:-0.54 [[ 9.97197875e-01 -7.47860661e-02 1.85541662e-03 8.50302347e+01] [ 7.47860173e-02 9.97199600e-01 9.57857115e-05 6.72531533e+00] [-1.85738415e-03 4.32419116e-05 9.99998274e-01 -5.42229746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters 0.0582741588894452 Centerline is valid? [True, True] Translation: X:85.09, Y:6.73, Z:-0.54 [[ 9.97126209e-01 -7.56254730e-02 4.48449920e-03 8.50922056e+01] [ 7.56251969e-02 9.97136288e-01 2.31338255e-04 6.72871933e+00] [-4.48915195e-03 1.08467698e-04 9.99989918e-01 -5.42711635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799998 meters 0.05838032892082895 Centerline is valid? [True, True] Translation: X:85.15, Y:6.73, Z:-0.54 [[ 9.96896913e-01 -7.86966264e-02 1.84023621e-03 8.51534761e+01] [ 7.86965852e-02 9.96898610e-01 9.48985975e-05 6.73281724e+00] [-1.84199711e-03 5.02161864e-05 9.99998302e-01 -5.44643287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66439141799998 meters 0.05892902509044768 Centerline is valid? [True, True] Translation: X:85.22, Y:6.73, Z:-0.54 [[ 9.96824290e-01 -7.96182915e-02 1.50392728e-03 8.52152814e+01] [ 7.96182644e-02 9.96825424e-01 7.79675767e-05 6.72865764e+00] [-1.50536059e-03 4.20201055e-05 9.99998866e-01 -5.44343933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72439141799998 meters 0.06016959011802801 Centerline is valid? [True, True] Translation: X:85.28, Y:6.73, Z:-0.54 [[ 9.96883801e-01 -7.88636168e-02 1.79382273e-03 8.52779811e+01] [ 7.88635782e-02 9.96885413e-01 9.23704590e-05 6.72628195e+00] [-1.79552038e-03 4.93846645e-05 9.99998387e-01 -5.44774697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78439141799998 meters 0.057897628020911106 Centerline is valid? [True, True] Translation: X:85.34, Y:6.74, Z:-0.54 [[ 9.97068456e-01 -7.64979635e-02 1.59860136e-03 8.53395167e+01] [ 7.64979300e-02 9.97069737e-01 8.22185289e-05 6.73596369e+00] [-1.60020659e-03 4.03121933e-05 9.99998719e-01 -5.44093120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84439141799999 meters 0.05771270062469386 Centerline is valid? [True, True] Translation: X:85.40, Y:6.74, Z:-0.55 [[ 9.97166804e-01 -7.52111159e-02 -1.28589199e-03 8.54010010e+01] [ 7.52110936e-02 9.97167632e-01 -6.57703069e-05 6.74498350e+00] [ 1.28719653e-03 -3.11293763e-05 9.99999171e-01 -5.47059297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters 0.05785520046927788 Centerline is valid? [True, True] Translation: X:85.46, Y:6.75, Z:-0.55 [[ 9.97233266e-01 -7.43336405e-02 5.67713917e-04 8.54624399e+01] [ 7.43336356e-02 9.97233428e-01 2.97164877e-05 6.74698237e+00] [-5.68352230e-04 1.25659693e-05 9.99999838e-01 -5.47603325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799998 meters 0.060067402065914405 Centerline is valid? [True, True] Translation: X:85.52, Y:6.74, Z:-0.55 [[ 9.97089890e-01 -7.62337364e-02 4.11888092e-04 8.55236666e+01] [ 7.62337341e-02 9.97089975e-01 2.11775633e-05 6.73823151e+00] [-4.12303932e-04 1.02838331e-05 9.99999915e-01 -5.47718617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02439141799998 meters 0.05858713223285477 Centerline is valid? [True, True] Translation: X:85.59, Y:6.75, Z:-0.55 [[ 9.97062486e-01 -7.65760146e-02 -1.58534042e-03 8.55855852e+01] [ 7.65759828e-02 9.97063745e-01 -8.08307517e-05 6.75178898e+00] [ 1.58687516e-03 -4.08056907e-05 9.99998740e-01 -5.46980200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08439141799998 meters 0.05874826646821273 Centerline is valid? [True, True] Translation: X:85.65, Y:6.76, Z:-0.55 [[ 9.97197239e-01 -7.48036762e-02 -1.44106461e-03 8.56462367e+01] [ 7.48036480e-02 9.97198280e-01 -7.35686750e-05 6.76158078e+00] [ 1.44253036e-03 -3.44344105e-05 9.99998959e-01 -5.47103910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14439141799998 meters 0.05841364260329201 Centerline is valid? [True, True] Translation: X:85.71, Y:6.76, Z:-0.55 [[ 9.97304006e-01 -7.33722001e-02 1.11354983e-03 8.57068359e+01] [ 7.33721819e-02 9.97304627e-01 5.71762073e-05 6.75754723e+00] [-1.11474355e-03 2.46815203e-05 9.99999378e-01 -5.48137168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20439141799999 meters 0.05777276798064924 Centerline is valid? [True, True] Translation: X:85.77, Y:6.76, Z:-0.54 [[ 9.97534200e-01 -7.01313549e-02 2.66718374e-03 8.57671416e+01] [ 7.01312412e-02 9.97537764e-01 1.36272709e-04 6.76373324e+00] [-2.67017349e-03 5.11162187e-05 9.99996434e-01 -5.44322049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters 0.05801675255994924 Centerline is valid? [True, True] Translation: X:85.83, Y:6.77, Z:-0.55 [[ 9.97784579e-01 -6.65272264e-02 2.50979423e-04 8.58282013e+01] [ 6.65272252e-02 9.97784610e-01 1.29465188e-05 6.77122771e+00] [-2.51284702e-04 3.77912776e-06 9.99999968e-01 -5.46732158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters 0.05855466345750266 Centerline is valid? [True, True] Translation: X:85.89, Y:6.77, Z:-0.55 [[ 9.97937284e-01 -6.41931953e-02 -6.40544788e-04 8.58908203e+01] [ 6.41931877e-02 9.97937490e-01 -3.24067900e-05 6.76968418e+00] [ 6.41303953e-04 -8.77866784e-06 9.99999794e-01 -5.51236354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799998 meters 0.05812235143657391 Centerline is valid? [True, True] Translation: X:85.95, Y:6.78, Z:-0.54 [[ 9.98357188e-01 -5.72506531e-02 2.29956162e-03 8.59515778e+01] [ 5.72505349e-02 9.98359836e-01 1.17288001e-04 6.77992384e+00] [-2.30250477e-03 1.45558135e-05 9.99997349e-01 -5.44910295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44439141799998 meters 0.05824936974605668 Centerline is valid? [True, True] Translation: X:86.01, Y:6.79, Z:-0.54 [[ 9.98714170e-01 -5.06887184e-02 8.12902376e-04 8.60126791e+01] [ 5.06887013e-02 9.98714501e-01 4.15780691e-05 6.78908672e+00] [-8.13964930e-04 -3.19641009e-07 9.99999669e-01 -5.44179456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50439141799998 meters 0.05828997663811 Centerline is valid? [True, True] Translation: X:86.08, Y:6.78, Z:-0.55 [[ 9.98747670e-01 -5.00198588e-02 1.05109675e-03 8.60763426e+01] [ 5.00198298e-02 9.98748223e-01 5.38557161e-05 6.78466934e+00] [-1.05247487e-03 -1.21259052e-06 9.99999446e-01 -5.50913521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56439141799999 meters 0.05708328904716546 Centerline is valid? [True, True] Translation: X:86.14, Y:6.78, Z:-0.55 [[ 9.98255530e-01 -5.89702052e-02 2.90039847e-03 8.61378110e+01] [ 5.89700242e-02 9.98259743e-01 1.47962739e-04 6.77976156e+00] [-2.90407643e-03 2.33319457e-05 9.99995783e-01 -5.48475142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters 0.05889548653949191 Centerline is valid? [True, True] Translation: X:86.20, Y:6.77, Z:-0.55 [[ 9.97523166e-01 -7.03180822e-02 1.70322973e-03 8.61979064e+01] [ 7.03180371e-02 9.97524619e-01 8.64736472e-05 6.77183699e+00] [-1.70509425e-03 3.35083048e-05 9.99998546e-01 -5.46850177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters 0.058881617571229984 Centerline is valid? [True, True] Translation: X:86.26, Y:6.77, Z:-0.55 [[ 9.96625150e-01 -8.20763869e-02 1.33337661e-03 8.62581428e+01] [ 8.20763696e-02 9.96626041e-01 6.77273380e-05 6.76888918e+00] [-1.33443666e-03 4.19399430e-05 9.99999109e-01 -5.47247439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799998 meters 0.062169388813524885 Centerline is valid? [True, True] Translation: X:86.32, Y:6.75, Z:-0.55 [[ 9.95888007e-01 -9.05875011e-02 9.90761955e-04 8.63189938e+01] [ 9.05874958e-02 9.95888499e-01 5.02962699e-05 6.75058064e+00] [-9.91244650e-04 3.96611925e-05 9.99999508e-01 -5.51221493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80439141799998 meters 0.059597249505479774 Centerline is valid? [True, True] Translation: X:86.38, Y:6.76, Z:-0.55 [[ 9.95106763e-01 -9.87425569e-02 3.52682827e-03 8.63793976e+01] [ 9.87425406e-02 9.95112998e-01 1.79167446e-04 6.76063013e+00] [-3.52728410e-03 1.69957246e-04 9.99993765e-01 -5.50586728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86439141799998 meters 0.062204169151999396 Centerline is valid? [True, True] Translation: X:86.44, Y:6.76, Z:-0.55 [[ 9.94583553e-01 -1.03894169e-01 3.09168820e-03 8.64392382e+01] [ 1.03894181e-01 9.94588344e-01 1.57035272e-04 6.75515163e+00] [-3.09127210e-03 1.65023716e-04 9.99995208e-01 -5.49517722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92439141799998 meters 0.06041724136987116 Centerline is valid? [True, True] Translation: X:86.50, Y:6.77, Z:-0.55 [[ 9.94292099e-01 -1.06672892e-01 2.02899503e-03 8.64997929e+01] [ 1.06672903e-01 9.94294162e-01 1.03109685e-04 6.76564437e+00] [-2.02841692e-03 1.13917646e-04 9.99997936e-01 -5.48626641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters 0.05821584296944016 Centerline is valid? [True, True] Translation: X:86.56, Y:6.79, Z:-0.55 [[ 9.94128189e-01 -1.08173762e-01 2.75326443e-03 8.65595540e+01] [ 1.08173788e-01 9.94131989e-01 1.39783683e-04 6.78788670e+00] [-2.75222917e-03 1.58868144e-04 9.99996200e-01 -5.49394378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters 0.06196951063394686 Centerline is valid? [True, True] Translation: X:86.62, Y:6.77, Z:-0.55 [[ 9.93842501e-01 -1.10689397e-01 4.99407651e-03 8.66201062e+01] [ 1.10689516e-01 9.93855003e-01 2.53462363e-04 6.76843283e+00] [-4.99144352e-03 3.00890240e-04 9.99987497e-01 -5.52266620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799998 meters 0.05920912373508278 Centerline is valid? [True, True] Translation: X:86.68, Y:6.78, Z:-0.55 [[ 9.93736947e-01 -1.11683714e-01 3.69168311e-03 8.66806509e+01] [ 1.11683786e-01 9.93743778e-01 1.87371010e-04 6.78409197e+00] [-3.68951341e-03 2.26103651e-04 9.99993168e-01 -5.54191228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16439141799998 meters 0.058646667928871556 Centerline is valid? [True, True] Translation: X:86.74, Y:6.81, Z:-0.55 [[ 9.94163405e-01 -1.07817855e-01 3.79928493e-03 8.67399366e+01] [ 1.07817903e-01 9.94170641e-01 1.92755403e-04 6.80969699e+00] [-3.79792000e-03 2.18000567e-04 9.99992764e-01 -5.52463574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22439141799998 meters 0.05991623484386406 Centerline is valid? [True, True] Translation: X:86.80, Y:6.81, Z:-0.55 [[ 9.94635845e-01 -1.03333625e-01 4.65801314e-03 8.67994620e+01] [ 1.03333648e-01 9.94646722e-01 2.36248389e-04 6.80532821e+00] [-4.65748990e-03 2.46348376e-04 9.99989123e-01 -5.51054922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28439141799998 meters 0.06085895289302098 Centerline is valid? [True, True] Translation: X:86.86, Y:6.81, Z:-0.55 [[ 9.94853128e-01 -1.01253622e-01 3.86758984e-03 8.68589648e+01] [ 1.01253623e-01 9.94860626e-01 1.96184121e-04 6.80673036e+00] [-3.86757720e-03 1.96433096e-04 9.99992502e-01 -5.54157432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34439141799999 meters 0.05833523312948369 Centerline is valid? [True, True] Translation: X:86.92, Y:6.83, Z:-0.56 [[ 9.95429390e-01 -9.54330181e-02 3.58730662e-03 8.69183190e+01] [ 9.54329807e-02 9.95435841e-01 1.81967761e-04 6.83204821e+00] [-3.58829932e-03 1.61211307e-04 9.99993549e-01 -5.57520706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters 0.05802674073080954 Centerline is valid? [True, True] Translation: X:86.98, Y:6.84, Z:-0.56 [[ 9.95897456e-01 -9.02902190e-02 5.99442227e-03 8.69788908e+01] [ 9.02900218e-02 9.95915468e-01 3.04070585e-04 6.84133151e+00] [-5.99739246e-03 2.38413395e-04 9.99981987e-01 -5.56071834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799998 meters 0.059409194611816714 Centerline is valid? [True, True] Translation: X:87.04, Y:6.85, Z:-0.55 [[ 9.96631396e-01 -8.17055383e-02 7.07575651e-03 8.70383210e+01] [ 8.17050481e-02 9.96656489e-01 3.58810738e-04 6.84910070e+00] [-7.08141547e-03 2.20522980e-04 9.99974902e-01 -5.51583722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52439141799998 meters 0.05817694498804256 Centerline is valid? [True, True] Translation: X:87.10, Y:6.87, Z:-0.56 [[ 9.97268876e-01 -7.36948836e-02 4.88388221e-03 8.70983144e+01] [ 7.36945539e-02 9.97280829e-01 2.47671634e-04 6.86522560e+00] [-4.88885423e-03 1.12920309e-04 9.99988043e-01 -5.55118749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58439141799998 meters 0.05774270897382965 Centerline is valid? [True, True] Translation: X:87.16, Y:6.88, Z:-0.56 [[ 9.97493545e-01 -7.05322543e-02 5.64171620e-03 8.71590066e+01] [ 7.05317641e-02 9.97509493e-01 2.86052670e-04 6.87566788e+00] [-5.64784140e-03 1.12584504e-04 9.99984044e-01 -5.57437113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64439141799998 meters 0.056855524655706355 Centerline is valid? [True, True] Translation: X:87.22, Y:6.88, Z:-0.56 [[ 9.97837665e-01 -6.55998266e-02 4.08122859e-03 8.72188339e+01] [ 6.55995293e-02 9.97846010e-01 2.06819034e-04 6.88204471e+00] [-4.08600496e-03 6.13548527e-05 9.99991650e-01 -5.60045456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70439141799999 meters 0.056048526707143616 Centerline is valid? [True, True] Translation: X:87.28, Y:6.89, Z:-0.56 [[ 9.98164019e-01 -6.03467585e-02 5.18262698e-03 8.72789567e+01] [ 6.03462081e-02 9.98177472e-01 2.62640095e-04 6.89159804e+00] [-5.18903098e-03 5.05939934e-05 9.99986536e-01 -5.56012236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters 0.05665783083500662 Centerline is valid? [True, True] Translation: X:87.34, Y:6.90, Z:-0.56 [[ 9.98300658e-01 -5.80592863e-02 4.99159775e-03 8.73397278e+01] [ 5.80587469e-02 9.98313136e-01 2.53019171e-04 6.89743312e+00] [-4.99786772e-03 3.72167053e-05 9.99987510e-01 -5.55162834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters 0.05699073264155399 Centerline is valid? [True, True] Translation: X:87.40, Y:6.90, Z:-0.56 [[ 9.98134410e-01 -6.07327900e-02 6.26314268e-03 8.74009482e+01] [ 6.07319986e-02 9.98154058e-01 3.16641301e-04 6.90087334e+00] [-6.27081179e-03 6.43225935e-05 9.99980336e-01 -5.55078884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799998 meters 0.05803443705841001 Centerline is valid? [True, True] Translation: X:87.46, Y:6.89, Z:-0.56 [[ 9.97790004e-01 -6.62063041e-02 5.64206306e-03 8.74621457e+01] [ 6.62057525e-02 9.97805952e-01 2.84682626e-04 6.89125470e+00] [-5.64853188e-03 8.94835518e-05 9.99984043e-01 -5.57905092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94439141799998 meters 0.057481412944403176 Centerline is valid? [True, True] Translation: X:87.52, Y:6.90, Z:-0.56 [[ 9.97666576e-01 -6.82675378e-02 9.72818056e-04 8.75239994e+01] [ 6.82675222e-02 9.97667050e-01 4.92378727e-05 6.89678220e+00] [-9.73909869e-04 1.72888984e-05 9.99999526e-01 -5.60790175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00439141799998 meters 0.05704308518169972 Centerline is valid? [True, True] Translation: X:87.58, Y:6.90, Z:-0.56 [[ 9.97442471e-01 -7.14345373e-02 2.37168967e-03 8.75838689e+01] [ 7.14344549e-02 9.97445289e-01 1.19549040e-04 6.90121681e+00] [-2.37417062e-03 5.01770688e-05 9.99997180e-01 -5.59266052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06439141799999 meters 0.05923217686184103 Centerline is valid? [True, True] Translation: X:87.64, Y:6.88, Z:-0.55 [[ 9.97154200e-01 -7.49727473e-02 7.91128968e-03 8.76448840e+01] [ 7.49719417e-02 9.97185564e-01 3.98767355e-04 6.88077347e+00] [-7.91892054e-03 1.95492205e-04 9.99968626e-01 -5.53129127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters 0.05822015069781727 Centerline is valid? [True, True] Translation: X:87.71, Y:6.89, Z:-0.56 [[ 9.97172297e-01 -7.50182812e-02 4.43484326e-03 8.77074115e+01] [ 7.50180282e-02 9.97182153e-01 2.23601016e-04 6.89381041e+00] [-4.43912071e-03 1.09724458e-04 9.99990141e-01 -5.57465359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters 0.057633752826649724 Centerline is valid? [True, True] Translation: X:87.77, Y:6.90, Z:-0.56 [[ 9.97416007e-01 -7.18086372e-02 2.19734161e-03 8.77687034e+01] [ 7.18085675e-02 9.97418426e-01 1.10716060e-04 6.89782072e+00] [-2.19961938e-03 4.73579831e-05 9.99997580e-01 -5.61844698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799998 meters 0.05751079818597149 Centerline is valid? [True, True] Translation: X:87.83, Y:6.90, Z:-0.56 [[ 9.97645504e-01 -6.84788307e-02 3.75461484e-03 8.78292090e+01] [ 6.84786044e-02 9.97652567e-01 1.88958785e-04 6.89525164e+00] [-3.75874081e-03 6.85969020e-05 9.99992934e-01 -5.62402632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30439141799998 meters 0.058281561986937375 Centerline is valid? [True, True] Translation: X:87.89, Y:6.91, Z:-0.56 [[ 9.98016958e-01 -6.28624787e-02 3.23433681e-03 8.78893777e+01] [ 6.28622814e-02 9.98022198e-01 1.62710450e-04 6.90523891e+00] [-3.23816831e-03 4.09300028e-05 9.99994756e-01 -5.59384464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36439141799998 meters 0.05713989304733204 Centerline is valid? [True, True] Translation: X:87.95, Y:6.92, Z:-0.56 [[ 9.98560253e-01 -5.35247410e-02 3.53871525e-03 8.79504008e+01] [ 5.35244462e-02 9.98566524e-01 1.78031227e-04 6.91707709e+00] [-3.54317166e-03 1.16328664e-05 9.99993723e-01 -5.57618309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42439141799998 meters 0.05782903166860203 Centerline is valid? [True, True] Translation: X:88.01, Y:6.92, Z:-0.56 [[ 9.98809594e-01 -4.86494511e-02 3.55320497e-03 8.80121201e+01] [ 4.86491226e-02 9.98815914e-01 1.78880542e-04 6.91622794e+00] [-3.55770011e-03 -5.80729738e-06 9.99993671e-01 -5.61200372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters 0.05864928372181164 Centerline is valid? [True, True] Translation: X:88.07, Y:6.92, Z:-0.56 [[ 9.99035246e-01 -4.38506385e-02 2.38710343e-03 8.80743835e+01] [ 4.38504771e-02 9.99038098e-01 1.19924623e-04 6.91725958e+00] [-2.39006604e-03 -1.51333011e-05 9.99997144e-01 -5.64266155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters 0.05836773439086938 Centerline is valid? [True, True] Translation: X:88.14, Y:6.92, Z:-0.56 [[ 9.99158256e-01 -4.09449022e-02 2.50888280e-03 8.81365445e+01] [ 4.09447154e-02 9.99161406e-01 1.25796523e-04 6.92157596e+00] [-2.51192959e-03 -2.29651422e-05 9.99996845e-01 -5.58732008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799998 meters 0.058320185029025966 Centerline is valid? [True, True] Translation: X:88.20, Y:6.92, Z:-0.56 [[ 9.99091180e-01 -4.24881391e-02 3.40177458e-03 8.81991702e+01] [ 4.24878051e-02 9.99096971e-01 1.70409866e-04 6.92114693e+00] [-3.40594308e-03 -2.57210589e-05 9.99994199e-01 -5.59430418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66439141799998 meters 0.05850542832426949 Centerline is valid? [True, True] Translation: X:88.26, Y:6.91, Z:-0.56 [[ 9.98750072e-01 -4.99554584e-02 1.65713973e-03 8.82609765e+01] [ 4.99553888e-02 9.98751447e-01 8.33776137e-05 6.90804536e+00] [-1.65923587e-03 -4.90338182e-07 9.99998623e-01 -5.64236678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72439141799998 meters 0.05919704515295321 Centerline is valid? [True, True] Translation: X:88.32, Y:6.91, Z:-0.57 [[ 9.98607205e-01 -5.27592062e-02 3.39668096e-04 8.83234176e+01] [ 5.27592034e-02 9.98607263e-01 1.71806014e-05 6.90747786e+00] [-3.40101463e-04 7.63945862e-07 9.99999942e-01 -5.65967196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78439141799998 meters 0.05838523103811427 Centerline is valid? [True, True] Translation: X:88.39, Y:6.91, Z:-0.56 [[ 9.98352285e-01 -5.73801441e-02 4.83818519e-04 8.83855366e+01] [ 5.73801390e-02 9.98352402e-01 2.43152043e-05 6.90974188e+00] [-4.84416591e-04 3.48643405e-06 9.99999883e-01 -5.64295818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84439141799999 meters 0.058139052065931986 Centerline is valid? [True, True] Translation: X:88.45, Y:6.90, Z:-0.56 [[ 9.98001548e-01 -6.30799437e-02 3.71906635e-03 8.84484946e+01] [ 6.30796907e-02 9.98008476e-01 1.85417930e-04 6.90238189e+00] [-3.72335589e-03 4.95501743e-05 9.99993067e-01 -5.61950023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters 0.058816723435357134 Centerline is valid? [True, True] Translation: X:88.51, Y:6.89, Z:-0.56 [[ 9.97485555e-01 -7.07675507e-02 3.81056761e-03 8.85081260e+01] [ 7.07673422e-02 9.97492831e-01 1.89702775e-04 6.89378784e+00] [-3.81443867e-03 8.04379633e-05 9.99992722e-01 -5.61125175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799998 meters 0.059466282901780895 Centerline is valid? [True, True] Translation: X:88.57, Y:6.89, Z:-0.56 [[ 9.96993439e-01 -7.74317490e-02 2.89951343e-03 8.85686776e+01] [ 7.74316562e-02 9.96997652e-01 1.44391897e-04 6.89029686e+00] [-2.90198859e-03 8.05563534e-05 9.99995786e-01 -5.61574582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02439141799998 meters 0.0592250416798037 Centerline is valid? [True, True] Translation: X:88.63, Y:6.89, Z:-0.56 [[ 9.96838892e-01 -7.93928336e-02 3.00034059e-03 8.86301615e+01] [ 7.93927430e-02 9.96843403e-01 1.49460347e-04 6.88664231e+00] [-3.00273581e-03 8.92173836e-05 9.99995488e-01 -5.63740660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08439141799998 meters 0.05939859610429575 Centerline is valid? [True, True] Translation: X:88.69, Y:6.88, Z:-0.57 [[ 9.97001369e-01 -7.73530795e-02 2.18447010e-03 8.86918719e+01] [ 7.73530267e-02 9.97003760e-01 1.08808099e-04 6.88369847e+00] [-2.18634155e-03 6.04935504e-05 9.99997608e-01 -5.65216057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14439141799998 meters 0.058924481656849007 Centerline is valid? [True, True] Translation: X:88.75, Y:6.90, Z:-0.56 [[ 9.97640977e-01 -6.86185700e-02 1.99305442e-03 8.87519210e+01] [ 6.86185088e-02 9.97642967e-01 9.91608256e-05 6.89515358e+00] [-1.99516100e-03 3.78335190e-05 9.99998009e-01 -5.63682598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20439141799999 meters 0.058933826424973794 Centerline is valid? [True, True] Translation: X:88.81, Y:6.90, Z:-0.56 [[ 9.98054578e-01 -6.22643145e-02 3.19593400e-03 8.88111739e+01] [ 6.22641247e-02 9.98059694e-01 1.58948001e-04 6.90437103e+00] [-3.19962970e-03 4.03532525e-05 9.99994880e-01 -5.61841259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters 0.06029088479348383 Centerline is valid? [True, True] Translation: X:88.87, Y:6.90, Z:-0.56 [[ 9.98290186e-01 -5.83384272e-02 3.65134176e-03 8.88732777e+01] [ 5.83381529e-02 9.98296863e-01 1.81678286e-04 6.89784137e+00] [-3.65572185e-03 3.16448834e-05 9.99993317e-01 -5.64926783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799998 meters 0.05961420760111878 Centerline is valid? [True, True] Translation: X:88.93, Y:6.90, Z:-0.57 [[ 9.98277574e-01 -5.86513457e-02 1.37988436e-03 8.89343657e+01] [ 5.86513068e-02 9.98278528e-01 6.86996310e-05 6.90345323e+00] [-1.38153826e-03 1.23507202e-05 9.99999046e-01 -5.65090868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799998 meters 0.05986489067702297 Centerline is valid? [True, True] Translation: X:89.00, Y:6.90, Z:-0.56 [[ 9.97926791e-01 -6.43534453e-02 8.67776825e-04 8.89950428e+01] [ 6.43534321e-02 9.97927169e-01 4.31931256e-05 6.90430836e+00] [-8.68757697e-04 1.27408397e-05 9.99999623e-01 -5.64791999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44439141799998 meters 0.06067358636344911 Centerline is valid? [True, True] Translation: X:89.06, Y:6.89, Z:-0.57 [[ 9.97320736e-01 -7.31457691e-02 1.02323718e-03 8.90554501e+01] [ 7.31457554e-02 9.97321260e-01 5.08309642e-05 6.89395913e+00] [-1.02421427e-03 2.41506820e-05 9.99999475e-01 -5.66221084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50439141799998 meters 0.06112259488446134 Centerline is valid? [True, True] Translation: X:89.12, Y:6.89, Z:-0.57 [[ 9.96911925e-01 -7.85163918e-02 -1.33775380e-03 8.91161207e+01] [ 7.85163734e-02 9.96912822e-01 -6.63511208e-05 6.89123653e+00] [ 1.33883357e-03 -3.88893535e-05 9.99999103e-01 -5.68117466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56439141799999 meters 0.05970817156533956 Centerline is valid? [True, True] Translation: X:89.18, Y:6.90, Z:-0.56 [[ 9.96263709e-01 -8.63631336e-02 1.78516986e-04 8.91767372e+01] [ 8.63631334e-02 9.96263725e-01 8.87047763e-06 6.90132962e+00] [-1.78616079e-04 6.57995131e-06 9.99999984e-01 -5.64528807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters 0.06184782459722498 Centerline is valid? [True, True] Translation: X:89.24, Y:6.89, Z:-0.56 [[ 9.95266910e-01 -9.71218428e-02 3.33536341e-03 8.92372357e+01] [ 9.71218320e-02 9.95272486e-01 1.65582421e-04 6.88765076e+00] [-3.33567711e-03 1.59137900e-04 9.99994424e-01 -5.64788376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters 0.0642676740368042 Centerline is valid? [True, True] Translation: X:89.30, Y:6.88, Z:-0.56 [[ 9.94408457e-01 -1.05553131e-01 3.21834914e-03 8.92970695e+01] [ 1.05553165e-01 9.94413648e-01 1.59784743e-04 6.87895874e+00] [-3.21723609e-03 1.80815639e-04 9.99994808e-01 -5.63494790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799998 meters 0.06017653659888916 Centerline is valid? [True, True] Translation: X:89.36, Y:6.90, Z:-0.56 [[ 9.93176165e-01 -1.16591846e-01 -2.72883302e-03 8.93567436e+01] [ 1.16591912e-01 9.93179897e-01 -1.35389568e-04 6.90488097e+00] [ 2.72600742e-03 -1.83694167e-04 9.99996268e-01 -5.64289301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80439141799998 meters 0.05747216082610881 Centerline is valid? [True, True] Translation: X:89.42, Y:6.93, Z:-0.57 [[ 9.92705973e-01 -1.20499500e-01 -3.83694239e-03 8.94165026e+01] [ 1.20499660e-01 9.92713350e-01 -1.90377407e-04 6.92832807e+00] [ 3.83192432e-03 -2.73361465e-04 9.99992621e-01 -5.65542335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86439141799998 meters 0.059696091658096945 Centerline is valid? [True, True] Translation: X:89.48, Y:6.92, Z:-0.57 [[ 9.93012946e-01 -1.17999067e-01 -1.22821071e-03 8.94768616e+01] [ 1.17999082e-01 9.93013702e-01 -6.09512263e-05 6.91954112e+00] [ 1.22682226e-03 -8.44023794e-05 9.99999244e-01 -5.66655766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92439141799998 meters 0.05780679059148049 Centerline is valid? [True, True] Translation: X:89.54, Y:6.94, Z:-0.56 [[ 9.93851418e-01 -1.10721781e-01 -2.12808741e-04 8.95364726e+01] [ 1.10721781e-01 9.93851441e-01 -1.05665138e-05 6.93770294e+00] [ 2.12670217e-04 -1.30610181e-05 9.99999977e-01 -5.61338003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters 0.058938005169012674 Centerline is valid? [True, True] Translation: X:89.60, Y:6.95, Z:-0.56 [[ 9.94380108e-01 -1.05859578e-01 -1.39664764e-03 8.95968975e+01] [ 1.05859585e-01 9.94381086e-01 -6.93072031e-05 6.94598797e+00] [ 1.39613683e-03 -7.89308356e-05 9.99999022e-01 -5.64167365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters 0.0615902775388023 Centerline is valid? [True, True] Translation: X:89.66, Y:6.94, Z:-0.57 [[ 9.94696059e-01 -1.02817940e-01 -2.86720910e-03 8.96567795e+01] [ 1.02817956e-01 9.94700180e-01 -1.42356476e-04 6.93583631e+00] [ 2.86665021e-03 -1.53199153e-04 9.99995879e-01 -5.70596867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799998 meters 0.05909778097392206 Centerline is valid? [True, True] Translation: X:89.72, Y:6.96, Z:-0.57 [[ 9.94996374e-01 -9.98672386e-02 -2.95822330e-03 8.97157376e+01] [ 9.98672424e-02 9.95000760e-01 -1.46823436e-04 6.96318324e+00] [ 2.95809728e-03 -1.49340816e-04 9.99995614e-01 -5.66022342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16439141799998 meters 0.05910471649061967 Centerline is valid? [True, True] Translation: X:89.78, Y:6.98, Z:-0.56 [[ 9.95903979e-01 -9.03801105e-02 -2.58840899e-03 8.97751348e+01] [ 9.03800814e-02 9.95907337e-01 -1.28439507e-04 6.97825061e+00] [ 2.58942388e-03 -1.06027198e-04 9.99996642e-01 -5.63849945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22439141799998 meters 0.058382113707352884 Centerline is valid? [True, True] Translation: X:89.84, Y:6.99, Z:-0.57 [[ 9.96546462e-01 -8.30137708e-02 -1.96565435e-03 8.98352197e+01] [ 8.30137397e-02 9.96548398e-01 -9.75331602e-05 6.98952482e+00] [ 1.96696629e-03 -6.59799927e-05 9.99998063e-01 -5.65470838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28439141799998 meters 0.059709854586249514 Centerline is valid? [True, True] Translation: X:89.89, Y:6.99, Z:-0.57 [[ 9.97129673e-01 -7.57121641e-02 -2.89282994e-04 8.98945932e+01] [ 7.57121631e-02 9.97129715e-01 -1.43712923e-05 6.99417675e+00] [ 2.89540750e-04 -7.57219917e-06 9.99999958e-01 -5.67252567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34439141799999 meters 0.058094898515963556 Centerline is valid? [True, True] Translation: X:89.95, Y:7.01, Z:-0.57 [[ 9.97400775e-01 -7.20498251e-02 -7.18935554e-04 8.99543268e+01] [ 7.20498181e-02 9.97401034e-01 -3.56233403e-05 7.01312608e+00] [ 7.19633720e-04 -1.62684287e-05 9.99999741e-01 -5.65878518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters 0.05757511204378662 Centerline is valid? [True, True] Translation: X:90.01, Y:7.02, Z:-0.57 [[ 9.97560669e-01 -6.98009154e-02 -7.37098051e-04 9.00148675e+01] [ 6.98009075e-02 9.97560941e-01 -3.64613307e-05 7.01745253e+00] [ 7.37845260e-04 -1.50777234e-05 9.99999728e-01 -5.66350083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799998 meters 0.05825104884102721 Centerline is valid? [True, True] Translation: X:90.08, Y:7.03, Z:-0.56 [[ 9.97802804e-01 -6.62535259e-02 1.85036009e-04 9.00753304e+01] [ 6.62535253e-02 9.97802821e-01 9.27367849e-06 7.02672721e+00] [-1.85243866e-04 3.00598550e-06 9.99999983e-01 -5.64369829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52439141799998 meters 0.058126926398277136 Centerline is valid? [True, True] Translation: X:90.14, Y:7.02, Z:-0.57 [[ 9.97778049e-01 -6.66200959e-02 -8.53271183e-04 9.01363085e+01] [ 6.66200844e-02 9.97778414e-01 -4.18970413e-05 7.02489448e+00] [ 8.54166752e-04 -1.50410502e-05 9.99999635e-01 -5.70245415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58439141799998 meters 0.058477379956051075 Centerline is valid? [True, True] Translation: X:90.20, Y:7.02, Z:-0.57 [[ 9.97572152e-01 -6.96399278e-02 -2.86250298e-04 9.01979735e+01] [ 6.96399267e-02 9.97572193e-01 -1.40799677e-05 7.02372025e+00] [ 2.86535865e-04 -5.88866601e-06 9.99999959e-01 -5.70779629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64439141799998 meters 0.0587057369425467 Centerline is valid? [True, True] Translation: X:90.26, Y:7.02, Z:-0.57 [[ 9.97463147e-01 -7.11835687e-02 -4.11192322e-04 9.02589661e+01] [ 7.11835666e-02 9.97463232e-01 -1.97185203e-05 7.02400389e+00] [ 4.11552857e-04 -9.60163874e-06 9.99999915e-01 -5.70588101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70439141799999 meters 0.05740590262678823 Centerline is valid? [True, True] Translation: X:90.32, Y:7.04, Z:-0.56 [[ 9.97201144e-01 -7.47652984e-02 -1.69972198e-04 9.03193574e+01] [ 7.47652980e-02 9.97201158e-01 -8.34844750e-06 7.03940934e+00] [ 1.70120647e-04 -4.38294068e-06 9.99999986e-01 -5.63963346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters 0.059281348642159094 Centerline is valid? [True, True] Translation: X:90.38, Y:7.03, Z:-0.57 [[ 9.97070553e-01 -7.64834349e-02 -7.72318634e-04 9.03808536e+01] [ 7.64834283e-02 9.97070852e-01 -3.80453458e-05 7.02726714e+00] [ 7.72966237e-04 -2.11356830e-05 9.99999701e-01 -5.69990737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799998 meters 0.057128442760062154 Centerline is valid? [True, True] Translation: X:90.44, Y:7.04, Z:-0.57 [[ 9.96978557e-01 -7.76562231e-02 -1.80781739e-03 9.04420904e+01] [ 7.76561895e-02 9.96980195e-01 -8.88471243e-05 7.03709124e+00] [ 1.80925766e-03 -5.18095321e-05 9.99998362e-01 -5.71150225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799998 meters 0.05773676882077758 Centerline is valid? [True, True] Translation: X:90.50, Y:7.04, Z:-0.57 [[ 9.96991222e-01 -7.75142564e-02 -2.09518212e-04 9.05033035e+01] [ 7.75142561e-02 9.96991244e-01 -9.67360991e-06 7.04029963e+00] [ 2.09637666e-04 -6.59614421e-06 9.99999978e-01 -5.68903590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94439141799998 meters 0.05756754417041098 Centerline is valid? [True, True] Translation: X:90.56, Y:7.04, Z:-0.57 [[ 9.97137401e-01 -7.56108671e-02 1.42453545e-05 9.05639159e+01] [ 7.56108671e-02 9.97137401e-01 7.97452706e-07 7.04105611e+00] [-1.42648719e-05 2.81933689e-07 1.00000000e+00 -5.67939586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00439141799998 meters 0.058127734036850946 Centerline is valid? [True, True] Translation: X:90.63, Y:7.04, Z:-0.57 [[ 9.97370829e-01 -7.24412481e-02 -1.92200360e-03 9.06252487e+01] [ 7.24412005e-02 9.97372680e-01 -9.44499995e-05 7.04359503e+00] [ 1.92379595e-03 -4.50305736e-05 9.99998148e-01 -5.71181048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06439141799999 meters 0.05739225763968776 Centerline is valid? [True, True] Translation: X:90.69, Y:7.05, Z:-0.57 [[ 9.97509995e-01 -7.05177956e-02 -1.02472500e-03 9.06869036e+01] [ 7.05177813e-02 9.97510521e-01 -5.01711500e-05 7.04590861e+00] [ 1.02571193e-03 -2.22151099e-05 9.99999474e-01 -5.73173333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters 0.05746106598617889 Centerline is valid? [True, True] Translation: X:90.75, Y:7.05, Z:-0.57 [[ 9.97740405e-01 -6.71857996e-02 3.89961643e-04 9.07478368e+01] [ 6.71857972e-02 9.97740481e-01 1.92627432e-05 7.04621532e+00] [-3.90374700e-04 6.98066669e-06 9.99999924e-01 -5.71914937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters 0.05797235380773291 Centerline is valid? [True, True] Translation: X:90.81, Y:7.06, Z:-0.57 [[ 9.98145702e-01 -6.08699913e-02 -3.95195472e-05 9.08083978e+01] [ 6.08699912e-02 9.98145703e-01 -1.89022456e-06 7.05733819e+00] [ 3.95613241e-05 -5.18834963e-07 9.99999999e-01 -5.69716750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799998 meters 0.058345087673677125 Centerline is valid? [True, True] Translation: X:90.87, Y:7.06, Z:-0.57 [[ 9.98433361e-01 -5.59044186e-02 -2.34952848e-03 9.08698046e+01] [ 5.59043039e-02 9.98436125e-01 -1.14509068e-04 7.06053870e+00] [ 2.35225568e-03 -1.70190806e-05 9.99997233e-01 -5.73176603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30439141799998 meters 0.05819963969148946 Centerline is valid? [True, True] Translation: X:90.93, Y:7.06, Z:-0.57 [[ 9.98501420e-01 -5.47214812e-02 -6.87587603e-04 9.09321904e+01] [ 5.47214711e-02 9.98501657e-01 -3.35184135e-05 7.06199546e+00] [ 6.88391538e-04 -4.15762162e-06 9.99999763e-01 -5.72646293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36439141799998 meters 0.05769915014490885 Centerline is valid? [True, True] Translation: X:90.99, Y:7.06, Z:-0.57 [[ 9.98519826e-01 -5.43611392e-02 1.73861325e-03 9.09941543e+01] [ 5.43610728e-02 9.98521340e-01 8.54129879e-05 7.06486442e+00] [-1.74068558e-03 9.22631944e-06 9.99998485e-01 -5.69321972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42439141799998 meters 0.05674516325883607 Centerline is valid? [True, True] Translation: X:91.06, Y:7.06, Z:-0.57 [[ 9.98382866e-01 -5.68476220e-02 1.28916726e-05 9.10561921e+01] [ 5.68476220e-02 9.98382866e-01 9.99528818e-07 7.06311399e+00] [-1.29276459e-05 -2.65051514e-07 1.00000000e+00 -5.73225927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters 0.05730090102762887 Centerline is valid? [True, True] Translation: X:91.12, Y:7.07, Z:-0.57 [[ 9.97900850e-01 -6.47524609e-02 1.00578883e-03 9.11160196e+01] [ 6.47524441e-02 9.97901357e-01 4.93255606e-05 7.06579912e+00] [-1.00687199e-03 1.59052660e-05 9.99999493e-01 -5.71234358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters 0.05814408162611038 Centerline is valid? [True, True] Translation: X:91.18, Y:7.06, Z:-0.57 [[ 9.97561098e-01 -6.97171407e-02 3.37290781e-03 9.11758327e+01] [ 6.97169818e-02 9.97566797e-01 1.64816089e-04 7.06306322e+00] [-3.37619134e-03 7.07348338e-05 9.99994298e-01 -5.70812840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799998 meters 0.059635583817819186 Centerline is valid? [True, True] Translation: X:91.24, Y:7.05, Z:-0.57 [[ 9.97253429e-01 -7.39636466e-02 3.87007152e-03 9.12371797e+01] [ 7.39634698e-02 9.97260933e-01 1.88973501e-04 7.05170953e+00] [-3.87344830e-03 9.77894461e-05 9.99992493e-01 -5.69885255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66439141799998 meters 0.05783152670699688 Centerline is valid? [True, True] Translation: X:91.30, Y:7.06, Z:-0.57 [[ 9.97219601e-01 -7.45065239e-02 1.35871585e-03 9.12985014e+01] [ 7.45065020e-02 9.97220526e-01 6.68055491e-05 7.06179667e+00] [-1.35991678e-03 3.46133619e-05 9.99999075e-01 -5.73091527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72439141799998 meters 0.05904179229923435 Centerline is valid? [True, True] Translation: X:91.36, Y:7.06, Z:-0.58 [[ 9.97407025e-01 -7.18909711e-02 3.30390189e-03 9.13597280e+01] [ 7.18908321e-02 9.97412494e-01 1.60944658e-04 7.05923792e+00] [-3.30692349e-03 7.69929241e-05 9.99994529e-01 -5.76130826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78439141799998 meters 0.05792583930825242 Centerline is valid? [True, True] Translation: X:91.42, Y:7.07, Z:-0.57 [[ 9.97912930e-01 -6.43024170e-02 5.91475223e-03 9.14197598e+01] [ 6.43018394e-02 9.97930454e-01 2.87956757e-04 7.06928610e+00] [-5.92102770e-03 9.29736777e-05 9.99982466e-01 -5.70897909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84439141799999 meters 0.05769076926636805 Centerline is valid? [True, True] Translation: X:91.48, Y:7.08, Z:-0.57 [[ 9.98422680e-01 -5.59783281e-02 4.31038665e-03 9.14792946e+01] [ 5.59779439e-02 9.98431984e-01 2.09815767e-04 7.08020555e+00] [-4.31537303e-03 3.18017622e-05 9.99990688e-01 -5.70256358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters 0.058693957469698924 Centerline is valid? [True, True] Translation: X:91.54, Y:7.08, Z:-0.58 [[ 9.98918387e-01 -4.64827569e-02 1.18708444e-03 9.15411083e+01] [ 4.64827207e-02 9.98919092e-01 5.80342687e-05 7.08232224e+00] [-1.18849890e-03 -2.79258377e-06 9.99999294e-01 -5.77535700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799998 meters 0.05865621269002524 Centerline is valid? [True, True] Translation: X:91.60, Y:7.08, Z:-0.58 [[ 9.99079331e-01 -4.28409434e-02 2.26807281e-03 9.16031291e+01] [ 4.28408031e-02 9.99081905e-01 1.10420646e-04 7.08115371e+00] [-2.27072103e-03 -1.31529242e-05 9.99997422e-01 -5.79143256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02439141799998 meters 0.05854552377241538 Centerline is valid? [True, True] Translation: X:91.66, Y:7.09, Z:-0.57 [[ 9.99166071e-01 -4.06776452e-02 3.53427957e-03 9.16646312e+01] [ 4.06772920e-02 9.99172322e-01 1.71797192e-04 7.08931751e+00] [-3.53834263e-03 -2.78890033e-05 9.99993740e-01 -5.74243975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08439141799998 meters 0.05900410047730771 Centerline is valid? [True, True] Translation: X:91.73, Y:7.09, Z:-0.57 [[ 9.99308955e-01 -3.69915630e-02 3.63810761e-03 9.17264203e+01] [ 3.69911647e-02 9.99315577e-01 1.76736633e-04 7.08965263e+00] [-3.64215537e-03 -4.20366621e-05 9.99993366e-01 -5.74450995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14439141799998 meters 0.05864209140585729 Centerline is valid? [True, True] Translation: X:91.79, Y:7.09, Z:-0.58 [[ 9.99307385e-01 -3.71203246e-02 2.61384927e-03 9.17882534e+01] [ 3.71201194e-02 9.99310803e-01 1.26976957e-04 7.08684481e+00] [-2.61676124e-03 -2.98626139e-05 9.99996576e-01 -5.78154322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20439141799999 meters 0.05844301752354036 Centerline is valid? [True, True] Translation: X:91.85, Y:7.09, Z:-0.58 [[ 9.99095937e-01 -4.21775466e-02 5.32570249e-03 9.18484230e+01] [ 4.21767692e-02 9.99110131e-01 2.58247268e-04 7.08542302e+00] [-5.33185554e-03 -3.33928715e-05 9.99985785e-01 -5.77243807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters 0.05848530365810996 Centerline is valid? [True, True] Translation: X:91.91, Y:7.08, Z:-0.57 [[ 9.98782200e-01 -4.89862610e-02 5.87054646e-03 9.19108949e+01] [ 4.89854341e-02 9.98799452e-01 2.84632200e-04 7.08012633e+00] [-5.87744166e-03 3.28569154e-06 9.99982728e-01 -5.74515559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799998 meters 0.05876908169791958 Centerline is valid? [True, True] Translation: X:91.97, Y:7.07, Z:-0.58 [[ 9.98579164e-01 -5.30822676e-02 4.68255318e-03 9.19738230e+01] [ 5.30817884e-02 9.98590142e-01 2.26627394e-04 7.07477598e+00] [-4.68798134e-03 2.22529035e-05 9.99989011e-01 -5.76801732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799998 meters 0.058946230804546564 Centerline is valid? [True, True] Translation: X:92.04, Y:7.07, Z:-0.58 [[ 9.98184535e-01 -6.00665968e-02 4.43152826e-03 9.20363873e+01] [ 6.00662377e-02 9.98194370e-01 2.14210477e-04 7.07014100e+00] [-4.43639345e-03 5.23636440e-05 9.99990158e-01 -5.79062527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44439141799998 meters 0.059116817162862344 Centerline is valid? [True, True] Translation: X:92.10, Y:7.06, Z:-0.58 [[ 9.97807645e-01 -6.60310335e-02 4.45036947e-03 9.20967951e+01] [ 6.60307317e-02 9.97817567e-01 2.14855165e-04 7.06104336e+00] [-4.45484395e-03 7.94770264e-05 9.99990074e-01 -5.80026309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50439141799998 meters 0.0589148947900661 Centerline is valid? [True, True] Translation: X:92.16, Y:7.06, Z:-0.58 [[ 9.97608486e-01 -6.89424668e-02 4.92395346e-03 9.21587164e+01] [ 6.89421327e-02 9.97620632e-01 2.37756880e-04 7.06197961e+00] [-4.92862911e-03 1.02279572e-04 9.99987849e-01 -5.80807211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56439141799999 meters 0.05985524724720246 Centerline is valid? [True, True] Translation: X:92.22, Y:7.06, Z:-0.58 [[ 9.97521642e-01 -7.02928875e-02 3.07966511e-03 9.22201200e+01] [ 7.02927634e-02 9.97526393e-01 1.48649806e-04 7.05923084e+00] [-3.08249626e-03 6.81967731e-05 9.99995247e-01 -5.81128472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters 0.059406442559864256 Centerline is valid? [True, True] Translation: X:92.28, Y:7.06, Z:-0.58 [[ 9.97138098e-01 -7.55877427e-02 1.45160187e-03 9.22807755e+01] [ 7.55877208e-02 9.97139154e-01 7.00348718e-05 7.05881784e+00] [-1.45274284e-03 3.98888379e-05 9.99998944e-01 -5.81725031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters 0.0592848430918912 Centerline is valid? [True, True] Translation: X:92.34, Y:7.06, Z:-0.58 [[ 9.96828937e-01 -7.95644198e-02 1.25408614e-03 9.23413738e+01] [ 7.95644067e-02 9.96829725e-01 6.04663738e-05 7.06333521e+00] [-1.25492131e-03 3.95059882e-05 9.99999212e-01 -5.81792498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799998 meters 0.05933318594616943 Centerline is valid? [True, True] Translation: X:92.40, Y:7.07, Z:-0.58 [[ 9.96839183e-01 -7.94226872e-02 1.91843946e-03 9.24029623e+01] [ 7.94226552e-02 9.96841027e-01 9.29887551e-05 7.06574806e+00] [-1.91976458e-03 5.96727211e-05 9.99998155e-01 -5.83103645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80439141799998 meters 0.0592222350280503 Centerline is valid? [True, True] Translation: X:92.46, Y:7.07, Z:-0.58 [[ 9.97357287e-01 -7.26368461e-02 1.52696168e-03 9.24639286e+01] [ 7.26368188e-02 9.97358455e-01 7.33921744e-05 7.06798106e+00] [-1.52825912e-03 3.77154191e-05 9.99998832e-01 -5.82337075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86439141799998 meters 0.058888651169298964 Centerline is valid? [True, True] Translation: X:92.52, Y:7.08, Z:-0.58 [[ 9.98230975e-01 -5.94189134e-02 2.07684950e-03 9.25229670e+01] [ 5.94188342e-02 9.98233135e-01 9.98472915e-05 7.08028772e+00] [-2.07911280e-03 2.37333168e-05 9.99997838e-01 -5.80488514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92439141799998 meters 0.05842866897332636 Centerline is valid? [True, True] Translation: X:92.58, Y:7.08, Z:-0.58 [[ 9.98651059e-01 -5.18708441e-02 2.34046275e-03 9.25835299e+01] [ 5.18707227e-02 9.98653802e-01 1.12609400e-04 7.08474885e+00] [-2.34315317e-03 8.94399734e-06 9.99997255e-01 -5.81550438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters 0.05953090643327014 Centerline is valid? [True, True] Translation: X:92.64, Y:7.09, Z:-0.58 [[ 9.98880052e-01 -4.71733974e-02 3.64854033e-03 9.26449908e+01] [ 4.71730710e-02 9.98886716e-01 1.75494584e-04 7.09311762e+00] [-3.65275714e-03 -3.18518687e-06 9.99993329e-01 -5.80480705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters 0.05948820806430078 Centerline is valid? [True, True] Translation: X:92.71, Y:7.09, Z:-0.58 [[ 9.98660310e-01 -5.15443048e-02 4.55729660e-03 9.27068518e+01] [ 5.15438422e-02 9.98670709e-01 2.18975269e-04 7.09325950e+00] [-4.56252556e-03 1.62186671e-05 9.99989591e-01 -5.81446584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799998 meters 0.05972384005363863 Centerline is valid? [True, True] Translation: X:92.77, Y:7.09, Z:-0.58 [[ 9.98194358e-01 -5.99768530e-02 3.28634321e-03 9.27685712e+01] [ 5.99766586e-02 9.98199767e-01 1.57773952e-04 7.08874723e+00] [-3.28988981e-03 3.96148151e-05 9.99994588e-01 -5.81806056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16439141799998 meters 0.05985992798658762 Centerline is valid? [True, True] Translation: X:92.83, Y:7.09, Z:-0.58 [[ 9.97835550e-01 -6.57285622e-02 1.99284433e-03 9.28290776e+01] [ 6.57285022e-02 9.97837539e-01 9.56471116e-05 7.09218579e+00] [-1.99482163e-03 3.55465848e-05 9.99998010e-01 -5.81505918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22439141799998 meters 0.05970691642912542 Centerline is valid? [True, True] Translation: X:92.89, Y:7.08, Z:-0.59 [[ 9.97134364e-01 -7.56482412e-02 6.35822121e-04 9.28890434e+01] [ 7.56482370e-02 9.97134566e-01 3.05633707e-05 7.08401734e+00] [-6.36312280e-04 1.76230353e-05 9.99999797e-01 -5.85325221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28439141799998 meters 0.05966769343401859 Centerline is valid? [True, True] Translation: X:92.95, Y:7.08, Z:-0.58 [[ 9.96548577e-01 -8.29678967e-02 2.69484690e-03 9.29500515e+01] [ 8.29678501e-02 9.96552216e-01 1.29272202e-04 7.08376229e+00] [-2.69628109e-03 9.47596250e-05 9.99996361e-01 -5.84930490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34439141799999 meters 0.05925259472282832 Centerline is valid? [True, True] Translation: X:93.01, Y:7.09, Z:-0.58 [[ 9.95869334e-01 -9.06720973e-02 4.77926282e-03 9.30105322e+01] [ 9.06720397e-02 9.95880780e-01 2.29165248e-04 7.09275811e+00] [-4.78035488e-03 2.05126866e-04 9.99988553e-01 -5.80079031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters 0.05913529402902597 Centerline is valid? [True, True] Translation: X:93.07, Y:7.09, Z:-0.58 [[ 9.95587037e-01 -9.37587110e-02 3.96929925e-03 9.30713949e+01] [ 9.37586958e-02 9.95594933e-01 1.90318017e-04 7.09324377e+00] [-3.96965819e-03 1.82678170e-04 9.99992104e-01 -5.82657727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799998 meters 0.059909753591413824 Centerline is valid? [True, True] Translation: X:93.13, Y:7.10, Z:-0.58 [[ 9.95576649e-01 -9.39247044e-02 2.29917490e-03 9.31323967e+01] [ 9.39246992e-02 9.95579298e-01 1.10474045e-04 7.09767237e+00] [-2.29938717e-03 1.05963931e-04 9.99997351e-01 -5.84884230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52439141799998 meters 0.06095077353545271 Centerline is valid? [True, True] Translation: X:93.19, Y:7.10, Z:-0.58 [[ 9.95871754e-01 -9.07004034e-02 3.58968941e-03 9.31920459e+01] [ 9.07003721e-02 9.95878212e-01 1.71855009e-04 7.09959197e+00] [-3.59048079e-03 1.54440617e-04 9.99993542e-01 -5.83890659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58439141799998 meters 0.06258176457272702 Centerline is valid? [True, True] Translation: X:93.25, Y:7.10, Z:-0.58 [[ 9.96284899e-01 -8.60420120e-02 3.62935461e-03 9.32517090e+01] [ 8.60419489e-02 9.96291500e-01 1.73802310e-04 7.10150264e+00] [-3.63084945e-03 1.39120127e-04 9.99993399e-01 -5.83356313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64439141799998 meters 0.05910634194914748 Centerline is valid? [True, True] Translation: X:93.31, Y:7.12, Z:-0.58 [[ 9.96714122e-01 -8.09697151e-02 2.20548467e-03 9.33112395e+01] [ 8.09696793e-02 9.96716559e-01 1.05649111e-04 7.12415620e+00] [-2.20679747e-03 7.32754258e-05 9.99997562e-01 -5.83746583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70439141799999 meters 0.059811325444344386 Centerline is valid? [True, True] Translation: X:93.37, Y:7.13, Z:-0.59 [[ 9.97117359e-01 -7.58642146e-02 1.26198282e-03 9.33702092e+01] [ 7.58641989e-02 9.97118157e-01 6.03849369e-05 7.13098485e+00] [-1.26292704e-03 3.55284466e-05 9.99999202e-01 -5.86769378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters 0.059997726714331456 Centerline is valid? [True, True] Translation: X:93.43, Y:7.14, Z:-0.59 [[ 9.97226991e-01 -7.43831435e-02 2.34027312e-03 9.34306004e+01] [ 7.43830851e-02 9.97229735e-01 1.12104988e-04 7.13729624e+00] [-2.34212866e-03 6.22826150e-05 9.99997255e-01 -5.86147706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799998 meters 0.061010573851269796 Centerline is valid? [True, True] Translation: X:93.49, Y:7.14, Z:-0.58 [[ 9.97306503e-01 -7.33058615e-02 2.44732233e-03 9.34916860e+01] [ 7.33057943e-02 9.97309504e-01 1.17265647e-04 7.14265987e+00] [-2.44933408e-03 6.24531150e-05 9.99996998e-01 -5.83851807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799998 meters 0.059694916208435145 Centerline is valid? [True, True] Translation: X:93.55, Y:7.15, Z:-0.58 [[ 9.97325693e-01 -7.30687998e-02 1.55306968e-03 9.35537597e+01] [ 7.30687722e-02 9.97326902e-01 7.45746596e-05 7.15384960e+00] [-1.55436726e-03 3.91056707e-05 9.99998791e-01 -5.84285886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94439141799998 meters 0.05917701303746993 Centerline is valid? [True, True] Translation: X:93.62, Y:7.16, Z:-0.59 [[ 9.97188749e-01 -7.48609488e-02 3.23060484e-03 9.36154457e+01] [ 7.48608408e-02 9.97193978e-01 1.54521946e-04 7.16221592e+00] [-3.23310735e-03 8.77582487e-05 9.99994770e-01 -5.85846285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00439141799998 meters 0.060989240209186446 Centerline is valid? [True, True] Translation: X:93.68, Y:7.16, Z:-0.59 [[ 9.97093149e-01 -7.60361739e-02 4.87366116e-03 9.36767066e+01] [ 7.60359429e-02 9.97105050e-01 2.32932597e-04 7.15702426e+00] [-4.87726346e-03 1.38317925e-04 9.99988097e-01 -5.87122686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06439141799999 meters 0.05835069800206521 Centerline is valid? [True, True] Translation: X:93.74, Y:7.17, Z:-0.59 [[ 9.97177496e-01 -7.49906905e-02 3.66575343e-03 9.37382156e+01] [ 7.49905542e-02 9.97184229e-01 1.74818606e-04 7.17246755e+00] [-3.66854127e-03 1.00571701e-04 9.99993266e-01 -5.85609715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters 0.0580937823529498 Centerline is valid? [True, True] Translation: X:93.80, Y:7.19, Z:-0.58 [[ 9.97497193e-01 -7.06554479e-02 2.67523310e-03 9.37974693e+01] [ 7.06553602e-02 9.97500779e-01 1.27401428e-04 7.18611663e+00] [-2.67754871e-03 6.19369916e-05 9.99996413e-01 -5.84166330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799998 meters 0.05817015195185154 Centerline is valid? [True, True] Translation: X:93.86, Y:7.19, Z:-0.59 [[ 9.97775790e-01 -6.65600012e-02 3.63855967e-03 9.38579032e+01] [ 6.65598117e-02 9.97782422e-01 1.73288968e-04 7.19225787e+00] [-3.64202500e-03 6.92783100e-05 9.99993365e-01 -5.86654493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799998 meters 0.05840015043206278 Centerline is valid? [True, True] Translation: X:93.92, Y:7.20, Z:-0.59 [[ 9.97981589e-01 -6.34655451e-02 2.20749232e-03 9.39186609e+01] [ 6.34654677e-02 9.97984030e-01 1.05181267e-04 7.19719565e+00] [-2.20971747e-03 3.51305642e-05 9.99997558e-01 -5.88602430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30439141799998 meters 0.05814984093142248 Centerline is valid? [True, True] Translation: X:93.98, Y:7.21, Z:-0.59 [[ 9.98326454e-01 -5.78295396e-02 -1.89506302e-04 9.39801213e+01] [ 5.78295390e-02 9.98326472e-01 -8.81197173e-06 7.20844062e+00] [ 1.89698750e-04 -2.16183758e-06 9.99999982e-01 -5.88615210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36439141799998 meters 0.05799409425766101 Centerline is valid? [True, True] Translation: X:94.04, Y:7.21, Z:-0.59 [[ 9.98551625e-01 -5.37987817e-02 5.86594087e-04 9.40420220e+01] [ 5.37987745e-02 9.98551797e-01 2.80877473e-05 7.21462349e+00] [-5.87255666e-04 3.51097737e-06 9.99999828e-01 -5.87475516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42439141799998 meters 0.05813005251088674 Centerline is valid? [True, True] Translation: X:94.10, Y:7.22, Z:-0.59 [[ 9.98549077e-01 -5.38203284e-02 1.76450802e-03 9.41030212e+01] [ 5.38202634e-02 9.98550636e-01 8.43377442e-05 7.21574764e+00] [-1.76648969e-03 1.07509097e-05 9.99998440e-01 -5.87873136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters 0.05754643828397108 Centerline is valid? [True, True] Translation: X:94.17, Y:7.22, Z:-0.59 [[ 9.98425697e-01 -5.60636066e-02 1.73180605e-03 9.41652902e+01] [ 5.60635480e-02 9.98427199e-01 8.23963853e-05 7.21919602e+00] [-1.73370170e-03 1.48245231e-05 9.99998497e-01 -5.87593394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters 0.05848539661734379 Centerline is valid? [True, True] Translation: X:94.23, Y:7.22, Z:-0.59 [[ 9.98214105e-01 -5.97323148e-02 8.07362446e-04 9.42270897e+01] [ 5.97323032e-02 9.98214431e-01 3.85345695e-05 7.22239057e+00] [-8.08222604e-04 9.75986766e-06 9.99999673e-01 -5.88177354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799998 meters 0.0582984512109261 Centerline is valid? [True, True] Translation: X:94.29, Y:7.22, Z:-0.59 [[ 9.97786503e-01 -6.64968693e-02 5.09745476e-04 9.42877782e+01] [ 6.64968656e-02 9.97786634e-01 2.41835091e-05 7.22061880e+00] [-5.10225350e-04 9.76649742e-06 9.99999870e-01 -5.89658025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66439141799998 meters 0.059298371431311656 Centerline is valid? [True, True] Translation: X:94.35, Y:7.22, Z:-0.59 [[ 9.97448116e-01 -7.13916546e-02 6.97573211e-04 9.43479568e+01] [ 7.13916490e-02 9.97448360e-01 3.29873854e-05 7.21716811e+00] [-6.98148279e-04 1.68976964e-05 9.99999756e-01 -5.90727308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72439141799998 meters 0.06072861905173675 Centerline is valid? [True, True] Translation: X:94.41, Y:7.21, Z:-0.59 [[ 9.96961086e-01 -7.79002513e-02 3.80284635e-04 9.44080515e+01] [ 7.79002500e-02 9.96961158e-01 1.81937207e-05 7.21088037e+00] [-3.80546306e-04 1.14858366e-05 9.99999928e-01 -5.90624380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78439141799998 meters 0.05897294311022061 Centerline is valid? [True, True] Translation: X:94.47, Y:7.22, Z:-0.59 [[ 9.96584751e-01 -8.25707783e-02 9.49461299e-04 9.44684185e+01] [ 8.25707729e-02 9.96585202e-01 4.49226205e-05 7.22292379e+00] [-9.49928377e-04 3.36285548e-05 9.99999548e-01 -5.88944272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84439141799999 meters 0.058231026864827624 Centerline is valid? [True, True] Translation: X:94.53, Y:7.23, Z:-0.59 [[ 9.96082434e-01 -8.84197056e-02 1.31947034e-03 9.45287235e+01] [ 8.84197004e-02 9.96083306e-01 6.23843357e-05 7.22824145e+00] [-1.31981838e-03 5.45272308e-05 9.99999128e-01 -5.91176580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters 0.05986293382749644 Centerline is valid? [True, True] Translation: X:94.59, Y:7.22, Z:-0.59 [[ 9.95689186e-01 -9.27500266e-02 6.90995787e-04 9.45894739e+01] [ 9.27500262e-02 9.95689425e-01 3.26665120e-05 7.22343198e+00] [-6.91047018e-04 3.15641846e-05 9.99999761e-01 -5.92144088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799998 meters 0.058053156694992544 Centerline is valid? [True, True] Translation: X:94.65, Y:7.24, Z:-0.59 [[ 9.95192953e-01 -9.79268947e-02 1.14457466e-03 9.46495791e+01] [ 9.79268971e-02 9.95193609e-01 5.40648270e-05 7.23740021e+00] [-1.14436779e-03 5.82797100e-05 9.99999344e-01 -5.89900185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02439141799998 meters 0.056168445534145996 Centerline is valid? [True, True] Translation: X:94.71, Y:7.25, Z:-0.59 [[ 9.94980843e-01 -1.00064099e-01 5.45315806e-04 9.47094056e+01] [ 1.00064100e-01 9.94980992e-01 2.58232880e-05 7.25022184e+00] [-5.45162846e-04 2.88728583e-05 9.99999851e-01 -5.89282390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08439141799998 meters 0.05966259644022095 Centerline is valid? [True, True] Translation: X:94.77, Y:7.24, Z:-0.59 [[ 9.95070123e-01 -9.91699207e-02 -8.81096829e-04 9.47705952e+01] [ 9.91699234e-02 9.95070512e-01 -4.08264069e-05 7.24351750e+00] [ 8.80802225e-04 -4.67531673e-05 9.99999611e-01 -5.91977009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14439141799998 meters 0.05921201217519269 Centerline is valid? [True, True] Translation: X:94.83, Y:7.25, Z:-0.59 [[ 9.95458642e-01 -9.51933756e-02 5.60470398e-04 9.48314620e+01] [ 9.51933758e-02 9.95458799e-01 2.64446832e-05 7.25222538e+00] [-5.60442548e-04 2.70284808e-05 9.99999843e-01 -5.93549931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20439141799999 meters 0.057370476111167065 Centerline is valid? [True, True] Translation: X:94.89, Y:7.26, Z:-0.59 [[ 9.95895385e-01 -9.04709094e-02 2.71982599e-03 9.48915598e+01] [ 9.04708963e-02 9.95899092e-01 1.28080693e-04 7.26406015e+00] [-2.72025981e-03 1.18510124e-04 9.99996293e-01 -5.91582205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters 0.05878673024717237 Centerline is valid? [True, True] Translation: X:94.95, Y:7.28, Z:-0.59 [[ 9.96645088e-01 -8.17763375e-02 3.34641518e-03 9.49510693e+01] [ 8.17762689e-02 9.96650700e-01 1.57570833e-04 7.27773197e+00] [-3.34809259e-03 1.16615151e-04 9.99994388e-01 -5.88894300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799998 meters 0.05802253314605426 Centerline is valid? [True, True] Translation: X:95.01, Y:7.29, Z:-0.59 [[ 9.97294322e-01 -7.34744986e-02 2.35236864e-03 9.50114102e+01] [ 7.34744415e-02 9.97297094e-01 1.10813838e-04 7.29239094e+00] [-2.35415240e-03 6.23249606e-05 9.99997227e-01 -5.90828456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799998 meters 0.05818914040174326 Centerline is valid? [True, True] Translation: X:95.07, Y:7.30, Z:-0.59 [[ 9.97577406e-01 -6.95271803e-02 2.29994763e-03 9.50711380e+01] [ 6.95271153e-02 9.97580056e-01 1.08289445e-04 7.29666594e+00] [-2.30191095e-03 5.18816206e-05 9.99997349e-01 -5.93261035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44439141799998 meters 0.057309969674572955 Centerline is valid? [True, True] Translation: X:95.13, Y:7.30, Z:-0.60 [[ 9.97900753e-01 -6.47072166e-02 2.65787027e-03 9.51309216e+01] [ 6.47071127e-02 9.97904291e-01 1.25141674e-04 7.30122308e+00] [-2.66039772e-03 4.71041407e-05 9.99996460e-01 -5.95127286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50439141799998 meters 0.05677409648229228 Centerline is valid? [True, True] Translation: X:95.19, Y:7.32, Z:-0.59 [[ 9.98319619e-01 -5.79355586e-02 1.18739354e-03 9.51909838e+01] [ 5.79355330e-02 9.98320325e-01 5.59393819e-05 7.32068813e+00] [-1.18863998e-03 1.29468953e-05 9.99999293e-01 -5.91232326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56439141799999 meters 0.05650669814157972 Centerline is valid? [True, True] Translation: X:95.25, Y:7.33, Z:-0.59 [[ 9.98575402e-01 -5.33569543e-02 4.49867680e-04 9.52535584e+01] [ 5.33569500e-02 9.98575503e-01 2.15305992e-05 7.32681324e+00] [-4.50375652e-04 2.50364056e-06 9.99999899e-01 -5.93106608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters 0.05729505606796451 Centerline is valid? [True, True] Translation: X:95.32, Y:7.33, Z:-0.60 [[ 9.98614014e-01 -5.25748816e-02 2.43580328e-03 9.53162625e+01] [ 5.25747583e-02 9.98616984e-01 1.14664626e-04 7.32721887e+00] [-2.43846301e-03 1.35560666e-05 9.99997027e-01 -5.96323934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799998 meters 0.05536380641993461 Centerline is valid? [True, True] Translation: X:95.38, Y:7.33, Z:-0.59 [[ 9.98362742e-01 -5.70330200e-02 4.36682419e-03 9.53768642e+01] [ 5.70326679e-02 9.98372292e-01 2.05211878e-04 7.33217548e+00] [-4.37142013e-03 4.41757409e-05 9.99990444e-01 -5.93357807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799998 meters 0.05713345796260569 Centerline is valid? [True, True] Translation: X:95.44, Y:7.33, Z:-0.59 [[ 9.97972516e-01 -6.35804635e-02 2.89519492e-03 9.54365238e+01] [ 6.35803370e-02 9.97976714e-01 1.35822260e-04 7.33112899e+00] [-2.89797276e-03 4.85305857e-05 9.99995800e-01 -5.94312298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80439141799998 meters 0.057635252389776126 Centerline is valid? [True, True] Translation: X:95.50, Y:7.33, Z:-0.60 [[ 9.97572217e-01 -6.96227782e-02 1.53014052e-03 9.54965565e+01] [ 6.96227500e-02 9.97573390e-01 7.17555159e-05 7.32676991e+00] [-1.53142329e-03 3.49512822e-05 9.99998827e-01 -5.97394441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86439141799998 meters 0.05754471175071377 Centerline is valid? [True, True] Translation: X:95.56, Y:7.33, Z:-0.60 [[ 9.97023055e-01 -7.70517038e-02 2.83947685e-03 9.55564105e+01] [ 7.70516366e-02 9.97027095e-01 1.33209032e-04 7.32564138e+00] [-2.84129934e-03 8.59738627e-05 9.99995960e-01 -5.95920352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92439141799998 meters 0.05744614202870287 Centerline is valid? [True, True] Translation: X:95.62, Y:7.33, Z:-0.60 [[ 9.96843809e-01 -7.92783896e-02 4.16617166e-03 9.56176394e+01] [ 7.92782640e-02 9.96852506e-01 1.95524858e-04 7.32622855e+00] [-4.16855955e-03 1.35379113e-04 9.99991302e-01 -5.96089500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters 0.05567964719120596 Centerline is valid? [True, True] Translation: X:95.68, Y:7.33, Z:-0.60 [[ 9.96751584e-01 -8.04121300e-02 4.49099851e-03 9.56798290e+01] [ 8.04119959e-02 9.96761690e-01 2.10717970e-04 7.33026097e+00] [-4.49339954e-03 1.51096683e-04 9.99989893e-01 -5.99160749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters 0.05726023817151275 Centerline is valid? [True, True] Translation: X:95.74, Y:7.33, Z:-0.60 [[ 9.96648873e-01 -8.17263321e-02 3.43959227e-03 9.57410324e+01] [ 8.17262608e-02 9.96654801e-01 1.61505692e-04 7.33232280e+00] [-3.44128542e-03 1.20140550e-04 9.99994072e-01 -5.98599136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799998 meters 0.05690051767973925 Centerline is valid? [True, True] Translation: X:95.80, Y:7.33, Z:-0.60 [[ 9.96471428e-01 -8.37221527e-02 5.94093187e-03 9.58025734e+01] [ 8.37219820e-02 9.96489113e-01 2.77862018e-04 7.33299467e+00] [-5.94333714e-03 2.20505029e-04 9.99982314e-01 -5.98998830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16439141799998 meters 0.05635409034986494 Centerline is valid? [True, True] Translation: X:95.86, Y:7.33, Z:-0.60 [[ 9.96451874e-01 -8.40107966e-02 5.08418949e-03 9.58635711e+01] [ 8.40106752e-02 9.96464826e-01 2.37805341e-04 7.33211603e+00] [-5.08619422e-03 1.90164615e-04 9.99987047e-01 -6.00609867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22439141799998 meters 0.05735790710774558 Centerline is valid? [True, True] Translation: X:95.92, Y:7.34, Z:-0.60 [[ 9.96611828e-01 -8.22365223e-02 1.42049471e-03 9.59244163e+01] [ 8.22365112e-02 9.96612839e-01 6.63388934e-05 7.34246938e+00] [-1.42113874e-03 5.07024029e-05 9.99998989e-01 -6.00018610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28439141799998 meters 0.05689994582723733 Centerline is valid? [True, True] Translation: X:95.98, Y:7.34, Z:-0.60 [[ 9.96838671e-01 -7.94363752e-02 1.58943361e-03 9.59841608e+01] [ 7.94363579e-02 9.96839937e-01 7.41204885e-05 7.34427021e+00] [-1.59029877e-03 5.23726481e-05 9.99998734e-01 -6.02364839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34439141799999 meters 0.05662682409122365 Centerline is valid? [True, True] Translation: X:96.05, Y:7.35, Z:-0.60 [[ 9.96958516e-01 -7.79095606e-02 1.95409285e-03 9.60454618e+01] [ 7.79095314e-02 9.96960429e-01 9.11899764e-05 7.34894677e+00] [-1.95525781e-03 6.13298344e-05 9.99998087e-01 -6.03349981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters 0.056324109388934784 Centerline is valid? [True, True] Translation: X:96.11, Y:7.35, Z:-0.60 [[ 9.97264554e-01 -7.38306331e-02 3.52801854e-03 9.61058112e+01] [ 7.38305129e-02 9.97270790e-01 1.64470284e-04 7.35210941e+00] [-3.53053278e-03 9.64550337e-05 9.99993763e-01 -6.03931409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799998 meters 0.05742324193543688 Centerline is valid? [True, True] Translation: X:96.17, Y:7.36, Z:-0.60 [[ 9.97606543e-01 -6.88809559e-02 6.04965654e-03 9.61653216e+01] [ 6.88805116e-02 9.97624877e-01 2.82011757e-04 7.36084089e+00] [-6.05471311e-03 1.35366664e-04 9.99981661e-01 -5.97697470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52439141799998 meters 0.05580423297039476 Centerline is valid? [True, True] Translation: X:96.23, Y:7.37, Z:-0.60 [[ 9.97831403e-01 -6.53470790e-02 7.88983957e-03 9.62268628e+01] [ 6.53462134e-02 9.97862584e-01 3.67727579e-04 7.36926440e+00] [-7.89700563e-03 1.48641014e-04 9.99968807e-01 -5.97598516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58439141799998 meters 0.05788842296329396 Centerline is valid? [True, True] Translation: X:96.29, Y:7.37, Z:-0.60 [[ 9.98033308e-01 -6.24293177e-02 5.66531573e-03 9.62882734e+01] [ 6.24288249e-02 9.98049384e-01 2.63947831e-04 7.36848694e+00] [-5.67074296e-03 9.02502771e-05 9.99983917e-01 -6.02759203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64439141799998 meters 0.05726208289069832 Centerline is valid? [True, True] Translation: X:96.35, Y:7.37, Z:-0.60 [[ 9.98040990e-01 -6.23976319e-02 4.55172212e-03 9.63504728e+01] [ 6.23973130e-02 9.98051367e-01 2.12163295e-04 7.37181042e+00] [-4.55609097e-03 7.22675653e-05 9.99989618e-01 -6.03641801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70439141799999 meters 0.05664561083695689 Centerline is valid? [True, True] Translation: X:96.41, Y:7.38, Z:-0.60 [[ 9.97982933e-01 -6.33215268e-02 4.52203001e-03 9.64128594e+01] [ 6.33212241e-02 9.97993176e-01 2.10225537e-04 7.37909227e+00] [-4.52626689e-03 7.65389780e-05 9.99989753e-01 -6.03275130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters 0.05676983034329103 Centerline is valid? [True, True] Translation: X:96.47, Y:7.38, Z:-0.60 [[ 9.98009527e-01 -6.28251496e-02 5.47585936e-03 9.64741632e+01] [ 6.28247025e-02 9.98024545e-01 2.53799011e-04 7.37620684e+00] [-5.48098700e-03 9.07254040e-05 9.99984975e-01 -6.02787810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799998 meters 0.05643166162975177 Centerline is valid? [True, True] Translation: X:96.53, Y:7.39, Z:-0.60 [[ 9.98345876e-01 -5.72831275e-02 4.91470945e-03 9.65347431e+01] [ 5.72827029e-02 9.98357972e-01 2.27230215e-04 7.38630383e+00] [-4.91965582e-03 5.46734927e-05 9.99987897e-01 -6.02824086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799998 meters 0.05657567212561581 Centerline is valid? [True, True] Translation: X:96.60, Y:7.39, Z:-0.60 [[ 9.98703819e-01 -5.04906626e-02 6.43235640e-03 9.65961417e+01] [ 5.04897946e-02 9.98724533e-01 2.97362184e-04 7.39266804e+00] [-6.43916615e-03 2.77916045e-05 9.99979268e-01 -6.04647290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94439141799998 meters 0.05632464768230701 Centerline is valid? [True, True] Translation: X:96.66, Y:7.39, Z:-0.61 [[ 9.98861687e-01 -4.73336298e-02 5.90410816e-03 9.66577381e+01] [ 4.73328441e-02 9.98879136e-01 2.72815584e-04 7.39354836e+00] [-5.91040381e-03 6.95319627e-06 9.99982533e-01 -6.05340973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00439141799998 meters 0.055346277938282805 Centerline is valid? [True, True] Translation: X:96.72, Y:7.40, Z:-0.60 [[ 9.98898364e-01 -4.64087310e-02 6.94896364e-03 9.67206895e+01] [ 4.64076257e-02 9.98922534e-01 3.20303194e-04 7.39684516e+00] [-6.95634124e-03 2.53456726e-06 9.99975804e-01 -6.03550023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06439141799999 meters 0.056933569623503225 Centerline is valid? [True, True] Translation: X:96.78, Y:7.40, Z:-0.60 [[ 9.98825737e-01 -4.81040207e-02 5.75762696e-03 9.67824492e+01] [ 4.81032913e-02 9.98842331e-01 2.65178499e-04 7.39761743e+00] [-5.76371768e-03 1.20936975e-05 9.99983390e-01 -6.03496999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters 0.05602102853206892 Centerline is valid? [True, True] Translation: X:96.84, Y:7.39, Z:-0.61 [[ 9.98514461e-01 -5.41447988e-02 6.10020765e-03 9.68447176e+01] [ 5.41440978e-02 9.98533093e-01 2.80123533e-04 7.39348182e+00] [-6.10642645e-03 5.05828413e-05 9.99981354e-01 -6.07114249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799998 meters 0.05676264933377256 Centerline is valid? [True, True] Translation: X:96.91, Y:7.39, Z:-0.61 [[ 9.98157240e-01 -6.03436970e-02 6.38458310e-03 9.69051784e+01] [ 6.03430607e-02 9.98177654e-01 2.92421439e-04 7.38745319e+00] [-6.39059397e-03 9.33827086e-05 9.99979576e-01 -6.08404694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799998 meters 0.05673748017408608 Centerline is valid? [True, True] Translation: X:96.97, Y:7.39, Z:-0.61 [[ 9.98022103e-01 -6.26568038e-02 5.09967908e-03 9.69665144e+01] [ 6.26564281e-02 9.98035128e-01 2.33565489e-04 7.38711594e+00] [-5.10429333e-03 8.64241554e-05 9.99986969e-01 -6.08544148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30439141799998 meters 0.05586106453383951 Centerline is valid? [True, True] Translation: X:97.03, Y:7.39, Z:-0.61 [[ 9.97940566e-01 -6.39810910e-02 4.58778051e-03 9.70288927e+01] [ 6.39808029e-02 9.97951107e-01 2.09692364e-04 7.39203871e+00] [-4.59179698e-03 8.42693643e-05 9.99989454e-01 -6.08185369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36439141799998 meters 0.05657092399733403 Centerline is valid? [True, True] Translation: X:97.09, Y:7.39, Z:-0.61 [[ 9.97913943e-01 -6.43010649e-02 5.75634217e-03 9.70912623e+01] [ 6.43006216e-02 9.97930539e-01 2.62239782e-04 7.38963566e+00] [-5.76129195e-03 1.08443645e-04 9.99983398e-01 -6.09403207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42439141799998 meters 0.05748601060719077 Centerline is valid? [True, True] Translation: X:97.15, Y:7.39, Z:-0.61 [[ 9.97882004e-01 -6.47084825e-02 6.65720324e-03 9.71526195e+01] [ 6.47079011e-02 9.97904202e-01 3.02917960e-04 7.38519127e+00] [-6.66285244e-03 1.28497267e-04 9.99977795e-01 -6.10120138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters 0.05712420757674375 Centerline is valid? [True, True] Translation: X:97.21, Y:7.39, Z:-0.61 [[ 9.97641162e-01 -6.83254549e-02 6.61398839e-03 9.72138471e+01] [ 6.83249648e-02 9.97663074e-01 3.00291274e-04 7.38633951e+00] [-6.61904952e-03 1.52317589e-04 9.99978082e-01 -6.10517303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799998 meters 0.05733933131512802 Centerline is valid? [True, True] Translation: X:97.27, Y:7.38, Z:-0.61 [[ 9.97222850e-01 -7.42920620e-02 5.22264948e-03 9.72738176e+01] [ 7.42918385e-02 9.97236515e-01 2.37048942e-04 7.38395234e+00] [-5.22582762e-03 1.51609610e-04 9.99986334e-01 -6.11544356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799998 meters 0.05689020996231777 Centerline is valid? [True, True] Translation: X:97.33, Y:7.39, Z:-0.61 [[ 9.96811859e-01 -7.96128573e-02 5.28304357e-03 9.73344883e+01] [ 7.96127033e-02 9.96825842e-01 2.39783108e-04 7.39481189e+00] [-5.28536417e-03 1.81578735e-04 9.99986016e-01 -6.12193153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66439141799998 meters 0.056609475383799436 Centerline is valid? [True, True] Translation: X:97.39, Y:7.40, Z:-0.61 [[ 9.96173820e-01 -8.72703164e-02 4.64893875e-03 9.73938834e+01] [ 8.72702806e-02 9.96184648e-01 2.10931957e-04 7.39608725e+00] [-4.64960951e-03 1.95589296e-04 9.99989171e-01 -6.13312714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72439141799998 meters 0.05595638945225638 Centerline is valid? [True, True] Translation: X:97.45, Y:7.39, Z:-0.61 [[ 9.95566079e-01 -9.39900506e-02 3.74871961e-03 9.74541695e+01] [ 9.39900754e-02 9.95573120e-01 1.69941657e-04 7.39154523e+00] [-3.74809730e-03 1.83154289e-04 9.99992959e-01 -6.14304058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78439141799998 meters 0.05560561611932822 Centerline is valid? [True, True] Translation: X:97.51, Y:7.40, Z:-0.61 [[ 9.95389544e-01 -9.58085489e-02 4.51407193e-03 9.75144324e+01] [ 9.58086035e-02 9.95399754e-01 2.04648493e-04 7.40474714e+00] [-4.51291317e-03 2.28781958e-04 9.99989791e-01 -6.13268091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84439141799999 meters 0.05664093208564147 Centerline is valid? [True, True] Translation: X:97.57, Y:7.40, Z:-0.61 [[ 9.95555009e-01 -9.40693069e-02 4.60319708e-03 9.75748402e+01] [ 9.40693453e-02 9.95565626e-01 2.08638554e-04 7.39801646e+00] [-4.60241126e-03 2.25308578e-04 9.99989383e-01 -6.12750075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters 0.05561600527534076 Centerline is valid? [True, True] Translation: X:97.63, Y:7.41, Z:-0.61 [[ 9.96157100e-01 -8.73700942e-02 6.12364291e-03 9.76345409e+01] [ 8.73700358e-02 9.96175888e-01 2.77551919e-04 7.41228325e+00] [-6.12447515e-03 2.58537586e-04 9.99981212e-01 -6.13911648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799998 meters 0.05712054167336363 Centerline is valid? [True, True] Translation: X:97.69, Y:7.41, Z:-0.61 [[ 9.96971886e-01 -7.74572220e-02 6.88752037e-03 9.76945514e+01] [ 7.74569119e-02 9.96995652e-01 3.12154871e-04 7.41143004e+00] [-6.89100650e-03 2.22276428e-04 9.99976232e-01 -6.14668560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02439141799998 meters 0.056042485001536246 Centerline is valid? [True, True] Translation: X:97.75, Y:7.43, Z:-0.61 [[ 9.97761842e-01 -6.64848484e-02 7.14645075e-03 9.77540423e+01] [ 6.64842329e-02 9.97787423e-01 3.23916128e-04 7.43001906e+00] [-7.15217420e-03 1.51935144e-04 9.99974411e-01 -6.14011605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08439141799998 meters 0.0565938863671197 Centerline is valid? [True, True] Translation: X:97.81, Y:7.44, Z:-0.62 [[ 9.98398754e-01 -5.62578452e-02 5.91463268e-03 9.78132237e+01] [ 5.62572442e-02 9.98416271e-01 2.68071784e-04 7.43750754e+00] [-5.92034665e-03 6.50983996e-05 9.99982472e-01 -6.16973495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14439141799998 meters 0.05593249149222772 Centerline is valid? [True, True] Translation: X:97.87, Y:7.45, Z:-0.62 [[ 9.98703806e-01 -5.05995135e-02 5.51339218e-03 9.78742756e+01] [ 5.05989047e-02 9.98719024e-01 2.49947640e-04 7.44631419e+00] [-5.51897688e-03 2.93479463e-05 9.99984770e-01 -6.17531256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20439141799999 meters 0.05645073652001499 Centerline is valid? [True, True] Translation: X:97.94, Y:7.46, Z:-0.62 [[ 9.98982772e-01 -4.47425097e-02 5.61510900e-03 9.79366224e+01] [ 4.47417864e-02 9.98998552e-01 2.54424480e-04 7.45509183e+00] [-5.62086935e-03 -2.93566440e-06 9.99984203e-01 -6.17809236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters 0.056467237532756384 Centerline is valid? [True, True] Translation: X:98.00, Y:7.46, Z:-0.62 [[ 9.99119167e-01 -4.16254398e-02 5.31154550e-03 9.79973742e+01] [ 4.16247496e-02 9.99133286e-01 2.40470524e-04 7.45844291e+00] [-5.31695160e-03 -1.91669579e-05 9.99985865e-01 -6.18369317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799998 meters 0.05650943943990373 Centerline is valid? [True, True] Translation: X:98.06, Y:7.46, Z:-0.62 [[ 9.99399422e-01 -3.40015395e-02 6.68505780e-03 9.80581043e+01] [ 3.40002790e-02 9.99421778e-01 3.02145493e-04 7.46026179e+00] [-6.69146576e-03 -7.46702012e-05 9.99977609e-01 -6.18882266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799998 meters 0.05696312664928609 Centerline is valid? [True, True] Translation: X:98.12, Y:7.47, Z:-0.62 [[ 9.99513427e-01 -3.00939389e-02 8.20150494e-03 9.81183611e+01] [ 3.00919115e-02 9.99547067e-01 3.70518100e-04 7.47404346e+00] [-8.20894056e-03 -1.23538855e-04 9.99966298e-01 -6.16810300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44439141799998 meters 0.056180373920763006 Centerline is valid? [True, True] Translation: X:98.18, Y:7.47, Z:-0.62 [[ 9.99486633e-01 -3.07691458e-02 8.92914265e-03 9.81811262e+01] [ 3.07667719e-02 9.99526510e-01 4.03128247e-04 7.47176477e+00] [-8.93731870e-03 -1.28200399e-04 9.99960053e-01 -6.17925518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50439141799998 meters 0.05629805934972873 Centerline is valid? [True, True] Translation: X:98.24, Y:7.47, Z:-0.62 [[ 9.99299683e-01 -3.66267395e-02 7.65675768e-03 9.82434186e+01] [ 3.66251676e-02 9.99329014e-01 3.45457574e-04 7.46658229e+00] [-7.66427309e-03 -6.47856102e-05 9.99970627e-01 -6.20851384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56439141799999 meters 0.055459730982243174 Centerline is valid? [True, True] Translation: X:98.31, Y:7.46, Z:-0.62 [[ 9.98919648e-01 -4.60755839e-02 6.04788153e-03 9.83052840e+01] [ 4.60747773e-02 9.98937956e-01 2.72701429e-04 7.46274982e+00] [-6.05402330e-03 6.24797909e-06 9.99981674e-01 -6.20909701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters 0.055751322770522777 Centerline is valid? [True, True] Translation: X:98.37, Y:7.46, Z:-0.62 [[ 9.98603360e-01 -5.25120631e-02 5.81487359e-03 9.83679362e+01] [ 5.25114305e-02 9.98620289e-01 2.61527240e-04 7.46067833e+00] [-5.82058408e-03 4.41853492e-05 9.99983059e-01 -6.21464350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799998 meters 0.055651490983535806 Centerline is valid? [True, True] Translation: X:98.43, Y:7.45, Z:-0.62 [[ 9.98154628e-01 -6.03869149e-02 6.38428124e-03 9.84297387e+01] [ 6.03863183e-02 9.98175040e-01 2.86348561e-04 7.45484175e+00] [-6.38992189e-03 9.97030979e-05 9.99979579e-01 -6.23196632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799998 meters 0.056622693542941666 Centerline is valid? [True, True] Translation: X:98.49, Y:7.45, Z:-0.62 [[ 9.97939228e-01 -6.37577013e-02 7.22854484e-03 9.84905339e+01] [ 6.37570258e-02 9.97965399e-01 3.24089838e-04 7.44837537e+00] [-7.23450085e-03 1.37448557e-04 9.99973821e-01 -6.22907917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80439141799998 meters 0.05610826535026976 Centerline is valid? [True, True] Translation: X:98.55, Y:7.45, Z:-0.62 [[ 9.97720544e-01 -6.69375641e-02 8.54864159e-03 9.85511176e+01] [ 6.69367367e-02 9.97757148e-01 3.83196127e-04 7.45208502e+00] [-8.55511847e-03 1.89895523e-04 9.99963386e-01 -6.23197627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86439141799998 meters 0.057234034602705826 Centerline is valid? [True, True] Translation: X:98.61, Y:7.44, Z:-0.62 [[ 9.97557787e-01 -6.93694600e-02 8.14487516e-03 9.86115502e+01] [ 6.93687902e-02 9.97591017e-01 3.65050206e-04 7.44382549e+00] [-8.15057764e-03 2.00841461e-04 9.99966763e-01 -6.23781347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92439141799998 meters 0.058042108616861446 Centerline is valid? [True, True] Translation: X:98.67, Y:7.44, Z:-0.62 [[ 9.97091488e-01 -7.58661382e-02 7.27274374e-03 9.86729981e+01] [ 7.58657769e-02 9.97117986e-01 3.25944682e-04 7.43988966e+00] [-7.27651175e-03 2.26755685e-04 9.99973500e-01 -6.24492578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters 0.05559632189176332 Centerline is valid? [True, True] Translation: X:98.73, Y:7.45, Z:-0.63 [[ 9.96378539e-01 -8.48576947e-02 5.38312130e-03 9.87331227e+01] [ 8.48576280e-02 9.96393057e-01 2.41203537e-04 7.45467014e+00] [-5.38417266e-03 2.16468877e-04 9.99985482e-01 -6.26848485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799998 meters 0.05622324893061492 Centerline is valid? [True, True] Translation: X:98.79, Y:7.44, Z:-0.63 [[ 9.95722172e-01 -9.23550436e-02 2.81114877e-03 9.87936455e+01] [ 9.23550553e-02 9.95726131e-01 1.25931411e-04 7.44372478e+00] [-2.81076469e-03 1.34231102e-04 9.99996041e-01 -6.30489647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799998 meters 0.0549985070858601 Centerline is valid? [True, True] Translation: X:98.85, Y:7.45, Z:-0.63 [[ 9.95476593e-01 -9.49769174e-02 2.39531065e-03 9.88537933e+01] [ 9.49769335e-02 9.95479468e-01 1.07307743e-04 7.45218078e+00] [-2.39467433e-03 1.20676914e-04 9.99997125e-01 -6.29706753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16439141799998 meters 0.056463277890729004 Centerline is valid? [True, True] Translation: X:98.91, Y:7.45, Z:-0.63 [[ 9.95646891e-01 -9.31222496e-02 3.93889796e-03 9.89131917e+01] [ 9.31222786e-02 9.95654664e-01 1.76418676e-04 7.45313732e+00] [-3.93821063e-03 1.91148447e-04 9.99992227e-01 -6.27516064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22439141799998 meters 0.05591047688203726 Centerline is valid? [True, True] Translation: X:98.97, Y:7.46, Z:-0.63 [[ 9.96004765e-01 -8.91312867e-02 5.48839607e-03 9.89735083e+01] [ 8.91312823e-02 9.96019856e-01 2.45888211e-04 7.46002465e+00] [-5.48846780e-03 2.44281950e-04 9.99984908e-01 -6.26842641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28439141799998 meters 0.05662754987137142 Centerline is valid? [True, True] Translation: X:99.03, Y:7.46, Z:-0.63 [[ 9.96415160e-01 -8.43895529e-02 5.93565143e-03 9.90327901e+01] [ 8.43894639e-02 9.96432811e-01 2.65890603e-04 7.46000776e+00] [-5.93691624e-03 2.35969014e-04 9.99982349e-01 -6.27554062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters 0.05616336808287469 Centerline is valid? [True, True] Translation: X:99.09, Y:7.47, Z:-0.63 [[ 9.97015763e-01 -7.69904184e-02 5.66067050e-03 9.90926866e+01] [ 7.69902180e-02 9.97031816e-01 2.53626618e-04 7.46508113e+00] [-5.66339540e-03 1.82946519e-04 9.99983946e-01 -6.28246299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters 0.055524657420928505 Centerline is valid? [True, True] Translation: X:99.15, Y:7.48, Z:-0.63 [[ 9.97348970e-01 -7.25508269e-02 5.60445731e-03 9.91526001e+01] [ 7.25505607e-02 9.97364704e-01 2.51060741e-04 7.47695736e+00] [-5.60790257e-03 1.56211348e-04 9.99984263e-01 -6.28541181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799998 meters 0.05610351232782573 Centerline is valid? [True, True] Translation: X:99.21, Y:7.48, Z:-0.63 [[ 9.97778803e-01 -6.64094269e-02 5.21997805e-03 9.92120187e+01] [ 6.64091120e-02 9.97792451e-01 2.33830249e-04 7.47993907e+00] [-5.22398323e-03 1.13343241e-04 9.99986348e-01 -6.29340679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52439141799998 meters 0.054506598686841864 Centerline is valid? [True, True] Translation: X:99.27, Y:7.49, Z:-0.63 [[ 9.98207706e-01 -5.95613022e-02 5.81613346e-03 9.92717926e+01] [ 5.95607949e-02 9.98224646e-01 2.60538481e-04 7.49166197e+00] [-5.82132578e-03 8.63420128e-05 9.99983052e-01 -6.28177721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58439141799998 meters 0.05611192520933215 Centerline is valid? [True, True] Translation: X:99.33, Y:7.50, Z:-0.63 [[ 9.98486122e-01 -5.47306546e-02 5.47903406e-03 9.93326648e+01] [ 5.47301320e-02 9.98501153e-01 2.45386045e-04 7.49544905e+00] [-5.48425197e-03 5.48536975e-05 9.99984960e-01 -6.29603485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64439141799998 meters 0.05551909381269741 Centerline is valid? [True, True] Translation: X:99.39, Y:7.50, Z:-0.63 [[ 9.98862121e-01 -4.74336173e-02 4.95122560e-03 9.93939101e+01] [ 4.74331011e-02 9.98874392e-01 2.21682549e-04 7.50159678e+00] [-4.95616766e-03 1.34216834e-05 9.99987718e-01 -6.33115848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70439141799999 meters 0.056176212223482305 Centerline is valid? [True, True] Translation: X:99.46, Y:7.51, Z:-0.63 [[ 9.99178927e-01 -4.02759844e-02 4.39512147e-03 9.94554534e+01] [ 4.02755088e-02 9.99188593e-01 1.96705256e-04 7.51071142e+00] [-4.39947774e-03 -1.95279935e-05 9.99990322e-01 -6.31632183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters 0.056522905764433834 Centerline is valid? [True, True] Translation: X:99.52, Y:7.51, Z:-0.63 [[ 9.99352930e-01 -3.54319557e-02 6.18856494e-03 9.95167077e+01] [ 3.54309216e-02 9.99372089e-01 2.76687536e-04 7.51396538e+00] [-6.19448266e-03 -5.72419410e-05 9.99980812e-01 -6.29998350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799998 meters 0.0569640792010275 Centerline is valid? [True, True] Translation: X:99.58, Y:7.51, Z:-0.63 [[ 9.99345536e-01 -3.57125037e-02 5.75475005e-03 9.95792031e+01] [ 3.57116149e-02 9.99362104e-01 2.57164025e-04 7.51045742e+00] [-5.76026308e-03 -5.14843032e-05 9.99983408e-01 -6.33037597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799998 meters 0.05638140050572303 Centerline is valid? [True, True] Translation: X:99.64, Y:7.51, Z:-0.63 [[ 9.99224888e-01 -3.89862018e-02 5.44972412e-03 9.96413805e+01] [ 3.89854545e-02 9.99239749e-01 2.43334417e-04 7.50793187e+00] [-5.45506765e-03 -3.06858344e-05 9.99985121e-01 -6.33833563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94439141799998 meters 0.05625212173153536 Centerline is valid? [True, True] Translation: X:99.70, Y:7.50, Z:-0.63 [[ 9.98843185e-01 -4.77919308e-02 5.31248557e-03 9.97027650e+01] [ 4.77913460e-02 9.98857313e-01 2.37032055e-04 7.49993413e+00] [-5.31774328e-03 1.71329829e-05 9.99985861e-01 -6.34194065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00439141799998 meters 0.05689310655468094 Centerline is valid? [True, True] Translation: X:99.76, Y:7.49, Z:-0.63 [[ 9.98420121e-01 -5.60247469e-02 4.30000481e-03 9.97639782e+01] [ 5.60244424e-02 9.98429379e-01 1.91325845e-04 7.49278308e+00] [-4.30397011e-03 4.98817980e-05 9.99990737e-01 -6.34835773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06439141799999 meters 0.05637576318858312 Centerline is valid? [True, True] Translation: X:99.82, Y:7.49, Z:-0.63 [[ 9.97907557e-01 -6.45416450e-02 3.85787121e-03 9.98244017e+01] [ 6.45414636e-02 9.97915011e-01 1.71614137e-04 7.49260076e+00] [-3.86090385e-03 7.77376104e-05 9.99992544e-01 -6.34667878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters 0.05601012690447508 Centerline is valid? [True, True] Translation: X:99.89, Y:7.49, Z:-0.64 [[ 9.97166712e-01 -7.51183564e-02 3.97259723e-03 9.98851382e+01] [ 7.51182479e-02 9.97174617e-01 1.76726852e-04 7.48746764e+00] [-3.97464855e-03 1.22188410e-04 9.99992094e-01 -6.35449636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799998 meters 0.05845910740276892 Centerline is valid? [True, True] Translation: X:99.95, Y:7.48, Z:-0.64 [[ 9.96756455e-01 -8.03730837e-02 4.09100833e-03 9.99457733e+01] [ 8.03730130e-02 9.96764840e-01 1.81937267e-04 7.47850360e+00] [-4.09239613e-03 1.47459520e-04 9.99991615e-01 -6.36829276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799998 meters 0.05819506319057529 Centerline is valid? [True, True] Translation: X:100.01, Y:7.48, Z:-0.64 [[ 9.96400771e-01 -8.46295987e-02 4.83063391e-03 1.00006964e+02] [ 8.46295502e-02 9.96412461e-01 2.14813072e-04 7.47661304e+00] [-4.83148337e-03 1.94774465e-04 9.99988309e-01 -6.36916180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30439141799998 meters 0.05714145499592674 Centerline is valid? [True, True] Translation: X:100.07, Y:7.48, Z:-0.63 [[ 9.95985915e-01 -8.92973949e-02 6.16702186e-03 1.00068252e+02] [ 8.92974057e-02 9.96004969e-01 2.74146062e-04 7.47798993e+00] [-6.16686495e-03 2.77653437e-04 9.99980946e-01 -6.34504938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36439141799998 meters 0.055613036976070056 Centerline is valid? [True, True] Translation: X:100.13, Y:7.49, Z:-0.63 [[ 9.95773260e-01 -9.16117356e-02 6.55011820e-03 1.00128593e+02] [ 9.16117982e-02 9.95794755e-01 2.91118975e-04 7.49194335e+00] [-6.54924326e-03 3.10179615e-04 9.99978505e-01 -6.33949597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42439141799998 meters 0.0559111337359649 Centerline is valid? [True, True] Translation: X:100.19, Y:7.49, Z:-0.64 [[ 9.95675336e-01 -9.27554118e-02 5.20179959e-03 1.00189657e+02] [ 9.27554669e-02 9.95688892e-01 2.31179002e-04 7.49485919e+00] [-5.20081717e-03 2.52316119e-04 9.99986444e-01 -6.36329168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters 0.05522498641894177 Centerline is valid? [True, True] Translation: X:100.25, Y:7.50, Z:-0.64 [[ 9.95597839e-01 -9.36395463e-02 4.07171743e-03 1.00251477e+02] [ 9.36395874e-02 9.95606144e-01 1.80959892e-04 7.49880226e+00] [-4.07077189e-03 2.01110663e-04 9.99991694e-01 -6.39112977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799998 meters 0.060489602752628296 Centerline is valid? [True, True] Translation: X:100.31, Y:7.48, Z:-0.64 [[ 9.95606368e-01 -9.36322650e-02 9.79265876e-04 1.00313605e+02] [ 9.36322669e-02 9.95606848e-01 4.40149593e-05 7.48006168e+00] [-9.79085033e-04 4.78693101e-05 9.99999520e-01 -6.41622614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799998 meters 0.05481736235717678 Centerline is valid? [True, True] Translation: X:100.37, Y:7.51, Z:-0.64 [[ 9.95852851e-01 -9.09781061e-02 2.87997583e-04 1.00372887e+02] [ 9.09781062e-02 9.95852893e-01 1.28177249e-05 7.51244645e+00] [-2.87969358e-04 1.34369068e-05 9.99999958e-01 -6.38248823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66439141799998 meters 0.05504909069532608 Centerline is valid? [True, True] Translation: X:100.43, Y:7.52, Z:-0.64 [[ 9.96216440e-01 -8.68919110e-02 1.61269921e-03 1.00433184e+02] [ 8.68919091e-02 9.96217743e-01 7.13725263e-05 7.51731017e+00] [-1.61280126e-03 6.90280290e-05 9.99998697e-01 -6.38813439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72439141799998 meters 0.05607334895686487 Centerline is valid? [True, True] Translation: X:100.49, Y:7.52, Z:-0.64 [[ 9.97007871e-01 -7.72098666e-02 3.73374937e-03 1.00492937e+02] [ 7.72097886e-02 9.97014855e-01 1.65241390e-04 7.52267593e+00] [-3.73536185e-03 1.23535033e-04 9.99993016e-01 -6.38505461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78439141799998 meters 0.055908867906777925 Centerline is valid? [True, True] Translation: X:100.55, Y:7.53, Z:-0.64 [[ 9.97548050e-01 -6.98198357e-02 4.80396268e-03 1.00552927e+02] [ 6.98196207e-02 9.97559610e-01 2.12651796e-04 7.53205378e+00] [-4.80708645e-03 1.23280468e-04 9.99988438e-01 -6.38466399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters 0.05617936743823576 Centerline is valid? [True, True] Translation: X:100.61, Y:7.54, Z:-0.64 [[ 9.98145290e-01 -6.05815513e-02 5.98802660e-03 1.00612982e+02] [ 6.05810514e-02 9.98163246e-01 2.65002347e-04 7.54409566e+00] [-5.99308232e-03 9.82501030e-05 9.99982036e-01 -6.37505193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799997 meters 0.055940532397924576 Centerline is valid? [True, True] Translation: X:100.67, Y:7.55, Z:-0.64 [[ 9.98431835e-01 -5.56656875e-02 5.93313174e-03 1.00674290e+02] [ 5.56651098e-02 9.98449461e-01 2.62579464e-04 7.55406985e+00] [-5.93854885e-03 6.81007340e-05 9.99982364e-01 -6.36819023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799998 meters 0.055394681165674475 Centerline is valid? [True, True] Translation: X:100.74, Y:7.56, Z:-0.64 [[ 9.98545277e-01 -5.37252414e-02 4.57466377e-03 1.00735836e+02] [ 5.37248774e-02 9.98555755e-01 2.02509907e-04 7.55856328e+00] [-4.57893673e-03 4.35579396e-05 9.99989516e-01 -6.38428943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02439141799998 meters 0.056146034507973085 Centerline is valid? [True, True] Translation: X:100.80, Y:7.56, Z:-0.64 [[ 9.98641739e-01 -5.20293684e-02 2.76066944e-03 1.00797711e+02] [ 5.20292294e-02 9.98645555e-01 1.22170196e-04 7.56404360e+00] [-2.76328671e-03 2.16312465e-05 9.99996182e-01 -6.43043074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08439141799998 meters 0.05542986565996952 Centerline is valid? [True, True] Translation: X:100.86, Y:7.57, Z:-0.64 [[ 9.98749524e-01 -4.99623131e-02 1.77623573e-03 1.00859724e+02] [ 4.99622529e-02 9.98751104e-01 7.82877383e-05 7.56997779e+00] [-1.77792883e-03 1.05548973e-05 9.99998419e-01 -6.42690574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14439141799998 meters 0.055474233959659766 Centerline is valid? [True, True] Translation: X:100.92, Y:7.58, Z:-0.64 [[ 9.98857375e-01 -4.77108481e-02 2.76045784e-03 1.00920692e+02] [ 4.77106939e-02 9.98861189e-01 1.21706868e-04 7.57666665e+00] [-2.76312094e-03 1.01355560e-05 9.99996183e-01 -6.41164340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20439141799999 meters 0.05563858260839812 Centerline is valid? [True, True] Translation: X:100.98, Y:7.58, Z:-0.64 [[ 9.98984203e-01 -4.48091916e-02 4.76433228e-03 1.00983213e+02] [ 4.48087046e-02 9.98995564e-01 2.08962267e-04 7.58097980e+00] [-4.76891025e-03 4.73355396e-06 9.99988629e-01 -6.41002351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters 0.055620567316576254 Centerline is valid? [True, True] Translation: X:101.05, Y:7.58, Z:-0.64 [[ 9.99025783e-01 -4.38833647e-02 4.66200305e-03 1.01046374e+02] [ 4.38828886e-02 9.99036661e-01 2.04406683e-04 7.58386245e+00] [-4.66648201e-03 3.74613694e-07 9.99989112e-01 -6.42817187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799998 meters 0.054092498690664424 Centerline is valid? [True, True] Translation: X:101.11, Y:7.59, Z:-0.64 [[ 9.99020719e-01 -4.40958817e-02 3.62725696e-03 1.01108570e+02] [ 4.40955962e-02 9.99027304e-01 1.58696942e-04 7.58573638e+00] [-3.63072662e-03 1.40452511e-06 9.99993409e-01 -6.44538697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799998 meters 0.05619819202822166 Centerline is valid? [True, True] Translation: X:101.17, Y:7.59, Z:-0.65 [[ 9.98939844e-01 -4.59518038e-02 2.76025157e-03 1.01170350e+02] [ 4.59516469e-02 9.98943658e-01 1.20282145e-04 7.58552458e+00] [-2.76286298e-03 6.68347881e-06 9.99996183e-01 -6.45819986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44439141799998 meters 0.05551282136811681 Centerline is valid? [True, True] Translation: X:101.23, Y:7.58, Z:-0.65 [[ 9.98752271e-01 -4.99091820e-02 1.72493120e-03 1.01231593e+02] [ 4.99091260e-02 9.98753760e-01 7.55144524e-05 7.58397961e+00] [-1.72655039e-03 1.06695778e-05 9.99998509e-01 -6.47124916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50439141799998 meters 0.05600844531536921 Centerline is valid? [True, True] Translation: X:101.29, Y:7.59, Z:-0.65 [[ 9.98658431e-01 -5.17434182e-02 1.98905421e-03 1.01294000e+02] [ 5.17433479e-02 9.98660412e-01 8.67871428e-05 7.58640645e+00] [-1.99088036e-03 1.62496121e-05 9.99998018e-01 -6.46875895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56439141799999 meters 0.0554262847693017 Centerline is valid? [True, True] Translation: X:101.36, Y:7.59, Z:-0.65 [[ 9.98710658e-01 -5.07291379e-02 1.89110189e-03 1.01355118e+02] [ 5.07290730e-02 9.98712448e-01 8.22805523e-05 7.58692875e+00] [-1.89284102e-03 1.37593815e-05 9.99998208e-01 -6.48862327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters 0.05584468752668014 Centerline is valid? [True, True] Translation: X:101.42, Y:7.59, Z:-0.65 [[ 9.98989593e-01 -4.48850786e-02 2.26330876e-03 1.01417557e+02] [ 4.48849722e-02 9.98992157e-01 9.78388416e-05 7.59235903e+00] [-2.26541921e-03 3.84856635e-06 9.99997434e-01 -6.49412619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799998 meters 0.05607263997105594 Centerline is valid? [True, True] Translation: X:101.48, Y:7.60, Z:-0.65 [[ 9.99204153e-01 -3.97923753e-02 2.76163951e-03 1.01479678e+02] [ 3.97921978e-02 9.99207970e-01 1.19208501e-04 7.59890119e+00] [-2.76419580e-03 -9.22192350e-06 9.99996180e-01 -6.47336556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799998 meters 0.055682212720878865 Centerline is valid? [True, True] Translation: X:101.54, Y:7.61, Z:-0.65 [[ 9.99393673e-01 -3.45849958e-02 4.02047403e-03 1.01542047e+02] [ 3.45845786e-02 9.99401760e-01 1.73263762e-04 7.60519202e+00] [-4.02406115e-03 -3.41123077e-05 9.99991903e-01 -6.47887449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80439141799998 meters 0.05610351802980742 Centerline is valid? [True, True] Translation: X:101.60, Y:7.61, Z:-0.65 [[ 9.99418864e-01 -3.40160852e-02 2.20020244e-03 1.01603665e+02] [ 3.40159583e-02 9.99421285e-01 9.51019190e-05 7.60725804e+00] [-2.20216415e-03 -2.02046574e-05 9.99997575e-01 -6.50411607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86439141799998 meters 0.05606362013720835 Centerline is valid? [True, True] Translation: X:101.67, Y:7.61, Z:-0.65 [[ 9.99318152e-01 -3.69088244e-02 9.84971675e-04 1.01665628e+02] [ 3.69088001e-02 9.99318637e-01 4.28480663e-05 7.60520011e+00] [-9.85882024e-04 -6.46472780e-06 9.99999514e-01 -6.49721572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92439141799998 meters 0.05553910958155615 Centerline is valid? [True, True] Translation: X:101.73, Y:7.61, Z:-0.65 [[ 9.98995023e-01 -4.48210981e-02 1.15723406e-04 1.01728266e+02] [ 4.48210978e-02 9.98995030e-01 5.20462839e-06 7.60592279e+00] [-1.15840385e-04 -1.25477483e-08 9.99999993e-01 -6.51991973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters 0.056200122572489436 Centerline is valid? [True, True] Translation: X:101.79, Y:7.60, Z:-0.65 [[ 9.98681638e-01 -5.13248548e-02 8.62788818e-04 1.01789761e+02] [ 5.13248416e-02 9.98682011e-01 3.74650951e-05 7.60498614e+00] [-8.63574563e-04 6.86679688e-06 9.99999627e-01 -6.51341027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799998 meters 0.057194399051988865 Centerline is valid? [True, True] Translation: X:101.85, Y:7.60, Z:-0.65 [[ 9.98131829e-01 -6.10869964e-02 1.10953885e-03 1.01850122e+02] [ 6.10869816e-02 9.98132445e-01 4.72906183e-05 7.59872640e+00] [-1.11035556e-03 2.05761079e-05 9.99999383e-01 -6.52752277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799998 meters 0.05630706364859239 Centerline is valid? [True, True] Translation: X:101.91, Y:7.60, Z:-0.65 [[ 9.97927756e-01 -6.43296219e-02 1.37641390e-03 1.01911184e+02] [ 6.43296019e-02 9.97928704e-01 5.87938220e-05 7.60353628e+00] [-1.37734512e-03 2.98721713e-05 9.99999051e-01 -6.52456045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16439141799998 meters 0.056085313941911644 Centerline is valid? [True, True] Translation: X:101.97, Y:7.60, Z:-0.65 [[ 9.97301549e-01 -7.33916692e-02 1.81184566e-03 1.01971465e+02] [ 7.33916499e-02 9.97303194e-01 7.72701818e-05 7.60125581e+00] [-1.81263045e-03 5.59126702e-05 9.99998356e-01 -6.51922721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22439141799998 meters 0.05663245432888731 Centerline is valid? [True, True] Translation: X:102.03, Y:7.60, Z:-0.65 [[ 9.96436008e-01 -8.42576992e-02 3.99023197e-03 1.02030986e+02] [ 8.42576922e-02 9.96443984e-01 1.70158945e-04 7.59857074e+00] [-3.99037984e-03 1.66655237e-04 9.99992025e-01 -6.50154769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28439141799998 meters 0.054215215652115754 Centerline is valid? [True, True] Translation: X:102.09, Y:7.60, Z:-0.65 [[ 9.95763055e-01 -9.18133293e-02 5.12355816e-03 1.02091282e+02] [ 9.18134177e-02 9.95776204e-01 2.18456675e-04 7.60382083e+00] [-5.12197453e-03 2.52880299e-04 9.99986851e-01 -6.49754881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters 0.05646486869239269 Centerline is valid? [True, True] Translation: X:102.15, Y:7.60, Z:-0.65 [[ 9.94834939e-01 -1.01436535e-01 3.75159287e-03 1.02151444e+02] [ 1.01436651e-01 9.94841988e-01 1.59946134e-04 7.59658597e+00] [-3.74846649e-03 2.21429013e-04 9.99992950e-01 -6.51329436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799997 meters 0.058306781598618386 Centerline is valid? [True, True] Translation: X:102.21, Y:7.59, Z:-0.65 [[ 9.94465216e-01 -1.05050174e-01 1.84235604e-03 1.02211735e+02] [ 1.05050208e-01 9.94466916e-01 7.85696098e-05 7.59188025e+00] [-1.84041588e-03 1.15405140e-04 9.99998300e-01 -6.54141988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799998 meters 0.0545724662436569 Centerline is valid? [True, True] Translation: X:102.27, Y:7.62, Z:-0.65 [[ 9.94645196e-01 -1.03333952e-01 1.74021298e-03 1.02271813e+02] [ 1.03333979e-01 9.94646713e-01 7.42214445e-05 7.61605690e+00] [-1.73856672e-03 1.05999129e-04 9.99998483e-01 -6.53499418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52439141799998 meters 0.05367186843714009 Centerline is valid? [True, True] Translation: X:102.33, Y:7.63, Z:-0.65 [[ 9.95411924e-01 -9.56770133e-02 1.00578218e-03 1.02332405e+02] [ 9.56770187e-02 9.95412430e-01 4.28667025e-05 7.62990954e+00] [-1.00526944e-03 5.35602132e-05 9.99999493e-01 -6.52099875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58439141799998 meters 0.05471675674668884 Centerline is valid? [True, True] Translation: X:102.39, Y:7.63, Z:-0.65 [[ 9.96059909e-01 -8.86760166e-02 1.10508622e-03 1.02392434e+02] [ 8.86760188e-02 9.96060521e-01 4.70853798e-05 7.63279773e+00] [-1.10490810e-03 5.10947872e-05 9.99999388e-01 -6.52517046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64439141799998 meters 0.05545039155935244 Centerline is valid? [True, True] Translation: X:102.45, Y:7.64, Z:-0.65 [[ 9.97013446e-01 -7.71698587e-02 3.00034089e-03 1.02452285e+02] [ 7.71698231e-02 9.97017955e-01 1.27795259e-04 7.63823292e+00] [-3.00125568e-03 1.04122184e-04 9.99995491e-01 -6.53582389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70439141799999 meters 0.05680353817261307 Centerline is valid? [True, True] Translation: X:102.51, Y:7.64, Z:-0.65 [[ 9.97595555e-01 -6.92028640e-02 3.75131903e-03 1.02512045e+02] [ 6.92027523e-02 9.97602603e-01 1.59732171e-04 7.63865997e+00] [-3.75337956e-03 1.00253498e-04 9.99992951e-01 -6.53393321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters 0.054712321048406884 Centerline is valid? [True, True] Translation: X:102.57, Y:7.66, Z:-0.65 [[ 9.98273935e-01 -5.84516157e-02 5.70609841e-03 1.02572287e+02] [ 5.84511812e-02 9.98290239e-01 2.43031783e-04 7.66161339e+00] [-5.71054794e-03 9.09158981e-05 9.99983691e-01 -6.52102113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799998 meters 0.05470868395254837 Centerline is valid? [True, True] Translation: X:102.63, Y:7.67, Z:-0.65 [[ 9.98755791e-01 -4.96666656e-02 4.48233744e-03 1.02632001e+02] [ 4.96663093e-02 9.98765849e-01 1.90835666e-04 7.67102442e+00] [-4.48628373e-03 3.20229308e-05 9.99989936e-01 -6.52974728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799998 meters 0.05460317432004033 Centerline is valid? [True, True] Translation: X:102.69, Y:7.68, Z:-0.66 [[ 9.98963989e-01 -4.53958519e-02 3.18820841e-03 1.02694324e+02] [ 4.53956495e-02 9.98969077e-01 1.35856314e-04 7.67669629e+00] [-3.19108893e-03 9.01522644e-06 9.99994908e-01 -6.55324316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94439141799998 meters 0.05490068672090433 Centerline is valid? [True, True] Translation: X:102.76, Y:7.68, Z:-0.66 [[ 9.99196233e-01 -4.00588138e-02 1.47614379e-03 1.02756142e+02] [ 4.00587645e-02 9.99197324e-01 6.29402012e-05 7.68237220e+00] [-1.47748023e-03 -3.75711555e-06 9.99998909e-01 -6.58720924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00439141799998 meters 0.05526271905892107 Centerline is valid? [True, True] Translation: X:102.82, Y:7.69, Z:-0.66 [[ 9.99313994e-01 -3.69925490e-02 1.75860791e-03 1.02816889e+02] [ 3.69924746e-02 9.99315541e-01 7.48475861e-05 7.68649311e+00] [-1.76017302e-03 -9.74098171e-06 9.99998451e-01 -6.57196370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06439141799999 meters 0.05517140127449843 Centerline is valid? [True, True] Translation: X:102.88, Y:7.69, Z:-0.66 [[ 9.99393333e-01 -3.46707027e-02 3.30272364e-03 1.02878966e+02] [ 3.46704281e-02 9.99398790e-01 1.40379823e-04 7.69490840e+00] [-3.30560508e-03 -2.57878171e-05 9.99994536e-01 -6.55210885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters 0.05464917890379541 Centerline is valid? [True, True] Translation: X:102.94, Y:7.70, Z:-0.66 [[ 9.99291732e-01 -3.73730345e-02 4.39221112e-03 1.02941086e+02] [ 3.73725755e-02 9.99301384e-01 1.86566531e-04 7.69543498e+00] [-4.39611521e-03 -2.22861498e-05 9.99990337e-01 -6.55334044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799998 meters 0.05496479910355046 Centerline is valid? [True, True] Translation: X:103.00, Y:7.70, Z:-0.66 [[ 9.99105510e-01 -4.20783771e-02 4.19403648e-03 1.03002167e+02] [ 4.20780019e-02 9.99114313e-01 1.77698171e-04 7.69519418e+00] [-4.19779913e-03 -1.06254711e-06 9.99991189e-01 -6.57399537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799998 meters 0.054741510588639075 Centerline is valid? [True, True] Translation: X:103.06, Y:7.69, Z:-0.66 [[ 9.98656817e-01 -5.16581761e-02 3.99928708e-03 1.03064941e+02] [ 5.16579137e-02 9.98664824e-01 1.68939570e-04 7.68990146e+00] [-4.00267444e-03 3.78821734e-05 9.99991989e-01 -6.58864858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30439141799998 meters 0.05550984254914508 Centerline is valid? [True, True] Translation: X:103.13, Y:7.69, Z:-0.66 [[ 9.98297345e-01 -5.82337589e-02 3.35265649e-03 1.03125838e+02] [ 5.82336121e-02 9.98302973e-01 1.41468858e-04 7.68766750e+00] [-3.35520520e-03 5.40093121e-05 9.99994370e-01 -6.58297967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36439141799998 meters 0.05466530100258048 Centerline is valid? [True, True] Translation: X:103.19, Y:7.69, Z:-0.66 [[ 9.98250942e-01 -5.90380631e-02 3.09268345e-03 1.03187524e+02] [ 5.90379414e-02 9.98255731e-01 1.30700524e-04 7.68675256e+00] [-3.09500528e-03 5.21137434e-05 9.99995209e-01 -6.58540808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42439141799998 meters 0.054835579885155236 Centerline is valid? [True, True] Translation: X:103.25, Y:7.69, Z:-0.66 [[ 9.98272059e-01 -5.86138625e-02 4.16060416e-03 1.03249659e+02] [ 5.86136419e-02 9.98280727e-01 1.75046227e-04 7.69091756e+00] [-4.16371108e-03 6.91244040e-05 9.99991329e-01 -6.58113726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters 0.05537251821054665 Centerline is valid? [True, True] Translation: X:103.31, Y:7.69, Z:-0.66 [[ 9.98512335e-01 -5.43612396e-02 4.23929337e-03 1.03310135e+02] [ 5.43609733e-02 9.98521333e-01 1.78120336e-04 7.68664777e+00] [-4.24270771e-03 5.25967604e-05 9.99990998e-01 -6.60758765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799998 meters 0.0552219464588877 Centerline is valid? [True, True] Translation: X:103.37, Y:7.69, Z:-0.66 [[ 9.98827712e-01 -4.82300880e-02 4.13035865e-03 1.03371586e+02] [ 4.82297826e-02 9.98836252e-01 1.73564821e-04 7.69329540e+00] [-4.13392300e-03 2.58449469e-05 9.99991455e-01 -6.62321430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799998 meters 0.054542674082723286 Centerline is valid? [True, True] Translation: X:103.43, Y:7.70, Z:-0.66 [[ 9.99018860e-01 -4.41348269e-02 3.66539437e-03 1.03434033e+02] [ 4.41345591e-02 9.99025584e-01 1.53968404e-04 7.70021892e+00] [-3.66861812e-03 7.95322505e-06 9.99993271e-01 -6.59637284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66439141799998 meters 0.054583967131976135 Centerline is valid? [True, True] Translation: X:103.50, Y:7.70, Z:-0.66 [[ 9.99190371e-01 -4.00258781e-02 4.06579891e-03 1.03496190e+02] [ 4.00255158e-02 9.99198643e-01 1.70468835e-04 7.70198449e+00] [-4.06936392e-03 -7.59512033e-06 9.99991720e-01 -6.59296142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72439141799998 meters 0.05530022097686273 Centerline is valid? [True, True] Translation: X:103.56, Y:7.70, Z:-0.66 [[ 9.99226083e-01 -3.92336319e-02 2.82093129e-03 1.03558705e+02] [ 3.92334545e-02 9.99230065e-01 1.18208776e-04 7.69793204e+00] [-2.82339712e-03 -7.44241213e-06 9.99996014e-01 -6.62936948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78439141799998 meters 0.054952103678129076 Centerline is valid? [True, True] Translation: X:103.62, Y:7.70, Z:-0.67 [[ 9.99217882e-01 -3.95100712e-02 1.60607835e-03 1.03620562e+02] [ 3.95100140e-02 9.99219172e-01 6.73371303e-05 7.69615533e+00] [-1.60748477e-03 -3.82828667e-06 9.99998708e-01 -6.65635331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters 0.05536260968022742 Centerline is valid? [True, True] Translation: X:103.68, Y:7.70, Z:-0.67 [[ 9.99190281e-01 -4.01881552e-02 1.92186667e-03 1.03681648e+02] [ 4.01880745e-02 9.99192130e-01 8.06047331e-05 7.69522675e+00] [-1.92355341e-03 -3.30334502e-06 9.99998150e-01 -6.65338614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799997 meters 0.05554553927253076 Centerline is valid? [True, True] Translation: X:103.74, Y:7.69, Z:-0.66 [[ 9.99164747e-01 -4.07350083e-02 3.23521360e-03 1.03742545e+02] [ 4.07347845e-02 9.99169985e-01 1.35085545e-04 7.69479970e+00] [-3.23803103e-03 -3.18698549e-06 9.99994758e-01 -6.61460166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799998 meters 0.05528686380871739 Centerline is valid? [True, True] Translation: X:103.80, Y:7.70, Z:-0.66 [[ 9.99117057e-01 -4.17772610e-02 4.44594457e-03 1.03804323e+02] [ 4.17768491e-02 9.99126949e-01 1.85505488e-04 7.69543810e+00] [-4.44981295e-03 3.95858140e-07 9.99990100e-01 -6.60869790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02439141799998 meters 0.05538110658627981 Centerline is valid? [True, True] Translation: X:103.87, Y:7.70, Z:-0.66 [[ 9.99080190e-01 -4.25984310e-02 4.91392420e-03 1.03865923e+02] [ 4.25979385e-02 9.99092275e-01 2.04887747e-04 7.69604295e+00] [-4.91819160e-03 4.62375182e-06 9.99987906e-01 -6.61779009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08439141799998 meters 0.05620879565177949 Centerline is valid? [True, True] Translation: X:103.93, Y:7.69, Z:-0.66 [[ 9.98994754e-01 -4.45006446e-02 5.40123366e-03 1.03926761e+02] [ 4.45000818e-02 9.99009356e-01 2.24389420e-04 7.69386252e+00] [-5.40586843e-03 1.61914858e-05 9.99985388e-01 -6.63741954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14439141799998 meters 0.05611576784536499 Centerline is valid? [True, True] Translation: X:103.99, Y:7.69, Z:-0.66 [[ 9.98932232e-01 -4.57894285e-02 6.14204959e-03 1.03989336e+02] [ 4.57887275e-02 9.98951114e-01 2.54768384e-04 7.69008020e+00] [-6.14727298e-03 2.67402841e-05 9.99981105e-01 -6.64876589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20439141799999 meters 0.05495606059307786 Centerline is valid? [True, True] Translation: X:104.05, Y:7.69, Z:-0.66 [[ 9.98960100e-01 -4.52985219e-02 5.17320322e-03 1.04052251e+02] [ 4.52980187e-02 9.98973495e-01 2.14459329e-04 7.69200679e+00] [-5.17760759e-03 2.00995436e-05 9.99986596e-01 -6.64978252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799997 meters 0.0545686023405533 Centerline is valid? [True, True] Translation: X:104.11, Y:7.70, Z:-0.66 [[ 9.99054435e-01 -4.32752933e-02 4.18152236e-03 1.04113406e+02] [ 4.32749470e-02 9.99063186e-01 1.73301701e-04 7.69645263e+00] [-4.18510474e-03 7.81732537e-06 9.99991242e-01 -6.64267758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799998 meters 0.05470873622074139 Centerline is valid? [True, True] Translation: X:104.18, Y:7.70, Z:-0.67 [[ 9.99249777e-01 -3.83860139e-02 5.13776290e-03 1.04176379e+02] [ 3.83854302e-02 9.99262985e-01 2.12197569e-04 7.69753973e+00] [-5.14212171e-03 -1.48231346e-05 9.99986779e-01 -6.65941028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799998 meters 0.05664638439260344 Centerline is valid? [True, True] Translation: X:104.24, Y:7.70, Z:-0.67 [[ 9.99400790e-01 -3.43799271e-02 4.01025397e-03 1.04237563e+02] [ 3.43795402e-02 9.99408835e-01 1.65402303e-04 7.69702352e+00] [-4.01356977e-03 -2.74325049e-05 9.99991945e-01 -6.67860982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44439141799998 meters 0.05634048012681194 Centerline is valid? [True, True] Translation: X:104.30, Y:7.70, Z:-0.67 [[ 9.99524334e-01 -3.07986542e-02 1.59662179e-03 1.04299346e+02] [ 3.07985881e-02 9.99525609e-01 6.59641443e-05 7.70054289e+00] [-1.59789598e-03 -1.67590704e-05 9.99998723e-01 -6.68205232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50439141799998 meters 0.05551724214004361 Centerline is valid? [True, True] Translation: X:104.36, Y:7.71, Z:-0.67 [[ 9.99534193e-01 -3.04748572e-02 1.63728351e-03 1.04360989e+02] [ 3.04747874e-02 9.99535534e-01 6.75936328e-05 7.70573165e+00] [-1.63858296e-03 -1.76662802e-05 9.99998657e-01 -6.67967301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56439141799999 meters 0.05623042057452422 Centerline is valid? [True, True] Translation: X:104.42, Y:7.70, Z:-0.67 [[ 9.99444002e-01 -3.32197749e-02 2.85191640e-03 1.04422732e+02] [ 3.32195744e-02 9.99448071e-01 1.17640019e-04 7.70131081e+00] [-2.85425032e-03 -2.28351625e-05 9.99995926e-01 -6.67023458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters 0.05645283990096377 Centerline is valid? [True, True] Translation: X:104.49, Y:7.69, Z:-0.67 [[ 9.99188439e-01 -4.01704953e-02 2.96546332e-03 1.04485583e+02] [ 4.01703102e-02 9.99192840e-01 1.21950178e-04 7.69455474e+00] [-2.96796851e-03 -2.72762649e-06 9.99995596e-01 -6.67712475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799998 meters 0.055642169213112394 Centerline is valid? [True, True] Translation: X:104.55, Y:7.69, Z:-0.67 [[ 9.98920330e-01 -4.63436742e-02 3.23091505e-03 1.04548237e+02] [ 4.63434888e-02 9.98925555e-01 1.32268410e-04 7.69239060e+00] [-3.23357341e-03 1.76062715e-05 9.99994772e-01 -6.68296190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799998 meters 0.056649428711981926 Centerline is valid? [True, True] Translation: X:104.61, Y:7.68, Z:-0.67 [[ 9.98475638e-01 -5.50355650e-02 4.18172812e-03 1.04608456e+02] [ 5.50353320e-02 9.98484393e-01 1.70859043e-04 7.68428576e+00] [-4.18479359e-03 5.95442034e-05 9.99991242e-01 -6.69606983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80439141799998 meters 0.05540084317763543 Centerline is valid? [True, True] Translation: X:104.67, Y:7.68, Z:-0.67 [[ 9.97983518e-01 -6.33808408e-02 3.43026500e-03 1.04669170e+02] [ 6.33807333e-02 9.97989410e-01 1.40165043e-04 7.68319064e+00] [-3.43225192e-03 7.75303087e-05 9.99994107e-01 -6.67427969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86439141799998 meters 0.05626956232608195 Centerline is valid? [True, True] Translation: X:104.73, Y:7.68, Z:-0.67 [[ 9.97651989e-01 -6.84091741e-02 3.27021634e-03 1.04728478e+02] [ 6.84091035e-02 9.97657344e-01 1.33586087e-04 7.67955400e+00] [-3.27169387e-03 9.04401432e-05 9.99994644e-01 -6.67334608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92439141799998 meters 0.05706922632870706 Centerline is valid? [True, True] Translation: X:104.79, Y:7.68, Z:-0.67 [[ 9.97110973e-01 -7.58178966e-02 4.62095252e-03 1.04789117e+02] [ 7.58178347e-02 9.97121668e-01 1.88825696e-04 7.67540815e+00] [-4.62196825e-03 1.62070440e-04 9.99989306e-01 -6.70298708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters 0.05718105485743413 Centerline is valid? [True, True] Translation: X:104.85, Y:7.67, Z:-0.67 [[ 9.96667235e-01 -8.14442204e-02 4.61106279e-03 1.04848401e+02] [ 8.14442191e-02 9.96677884e-01 1.88378573e-04 7.67480531e+00] [-4.61108665e-03 1.87793657e-04 9.99989351e-01 -6.71258451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799998 meters 0.05682498577577221 Centerline is valid? [True, True] Translation: X:104.91, Y:7.68, Z:-0.67 [[ 9.96544891e-01 -8.29779325e-02 3.59775938e-03 1.04909812e+02] [ 8.29779415e-02 9.96551373e-01 1.47049549e-04 7.68048705e+00] [-3.59755392e-03 1.51993191e-04 9.99993517e-01 -6.70241935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799998 meters 0.055893624645489935 Centerline is valid? [True, True] Translation: X:104.97, Y:7.69, Z:-0.67 [[ 9.96633928e-01 -8.19005169e-02 3.62213473e-03 1.04971277e+02] [ 8.19005182e-02 9.96640498e-01 1.48227471e-04 7.69361627e+00] [-3.62210607e-03 1.48926185e-04 9.99993429e-01 -6.70443959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16439141799998 meters 0.05655370209264927 Centerline is valid? [True, True] Translation: X:105.03, Y:7.69, Z:-0.67 [[ 9.96714761e-01 -8.08567463e-02 4.67662707e-03 1.05033114e+02] [ 8.08567405e-02 9.96725715e-01 1.90629431e-04 7.69227861e+00] [-4.67672814e-03 1.88133654e-04 9.99989046e-01 -6.71191725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22439141799998 meters 0.056132581064661353 Centerline is valid? [True, True] Translation: X:105.10, Y:7.70, Z:-0.67 [[ 9.96743156e-01 -8.04888784e-02 4.96198876e-03 1.05095239e+02] [ 8.04888703e-02 9.96755487e-01 2.01647141e-04 7.70061744e+00] [-4.96211987e-03 1.98394462e-04 9.99987669e-01 -6.71454765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28439141799998 meters 0.056053780808932044 Centerline is valid? [True, True] Translation: X:105.16, Y:7.71, Z:-0.67 [[ 9.97027847e-01 -7.69830653e-02 3.01321517e-03 1.05155418e+02] [ 7.69830475e-02 9.97032394e-01 1.22037830e-04 7.71023331e+00] [-3.01366798e-03 1.10291371e-04 9.99995453e-01 -6.73053427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters 0.05598715306696138 Centerline is valid? [True, True] Translation: X:105.21, Y:7.71, Z:-0.67 [[ 9.97372612e-01 -7.23976699e-02 2.53979140e-03 1.05214951e+02] [ 7.23976425e-02 9.97375842e-01 1.02854835e-04 7.71264405e+00] [-2.54057304e-03 8.12903146e-05 9.99996769e-01 -6.73912821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799997 meters 0.056735604282516484 Centerline is valid? [True, True] Translation: X:105.27, Y:7.72, Z:-0.67 [[ 9.97939918e-01 -6.40446263e-02 3.76915893e-03 1.05273779e+02] [ 6.40445065e-02 9.97947032e-01 1.52614351e-04 7.72262231e+00] [-3.77119509e-03 8.90939700e-05 9.99992885e-01 -6.72084865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799998 meters 0.05586215461567757 Centerline is valid? [True, True] Translation: X:105.33, Y:7.73, Z:-0.67 [[ 9.98383908e-01 -5.65546148e-02 5.58093860e-03 1.05334457e+02] [ 5.65542343e-02 9.98399503e-01 2.26089858e-04 7.73413700e+00] [-5.58479275e-03 8.99012338e-05 9.99984401e-01 -6.71621408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52439141799998 meters 0.05540387357803636 Centerline is valid? [True, True] Translation: X:105.39, Y:7.74, Z:-0.67 [[ 9.98586215e-01 -5.28243494e-02 5.92944811e-03 1.05394741e+02] [ 5.28238544e-02 9.98603817e-01 2.40161167e-04 7.73910992e+00] [-5.93385587e-03 7.33946726e-05 9.99982392e-01 -6.73317355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58439141799998 meters 0.05551967223872759 Centerline is valid? [True, True] Translation: X:105.46, Y:7.75, Z:-0.67 [[ 9.98770815e-01 -4.93613591e-02 4.50719615e-03 1.05456830e+02] [ 4.93610376e-02 9.98780984e-01 1.82610481e-04 7.74755162e+00] [-4.51071571e-03 4.00938599e-05 9.99989826e-01 -6.74972830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64439141799998 meters 0.0563082001149994 Centerline is valid? [True, True] Translation: X:105.52, Y:7.75, Z:-0.68 [[ 9.98799846e-01 -4.88748226e-02 3.18097816e-03 1.05518880e+02] [ 4.88746601e-02 9.98804911e-01 1.28847918e-04 7.75377284e+00] [-3.18347403e-03 2.67759453e-05 9.99994932e-01 -6.75225120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70439141799999 meters 0.05521627153624374 Centerline is valid? [True, True] Translation: X:105.58, Y:7.76, Z:-0.68 [[ 9.98657982e-01 -5.16660767e-02 3.58494060e-03 1.05580524e+02] [ 5.16658900e-02 9.98664416e-01 1.44745141e-04 7.75508178e+00] [-3.58763103e-03 4.06682565e-05 9.99993564e-01 -6.75691484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799997 meters 0.055338671589250994 Centerline is valid? [True, True] Translation: X:105.64, Y:7.75, Z:-0.68 [[ 9.98343376e-01 -5.73982935e-02 3.99239848e-03 1.05641560e+02] [ 5.73981085e-02 9.98351357e-01 1.61003396e-04 7.75475114e+00] [-3.99505776e-03 6.84194469e-05 9.99992017e-01 -6.76293220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799998 meters 0.05549594659499881 Centerline is valid? [True, True] Translation: X:105.70, Y:7.76, Z:-0.68 [[ 9.98057310e-01 -6.21454825e-02 4.42091531e-03 1.05702717e+02] [ 6.21453024e-02 9.98067097e-01 1.78244808e-04 7.75738930e+00] [-4.42344722e-03 9.68405849e-05 9.99990212e-01 -6.77245646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799998 meters 0.05596487775976312 Centerline is valid? [True, True] Translation: X:105.76, Y:7.76, Z:-0.68 [[ 9.98040720e-01 -6.24380065e-02 4.02692115e-03 1.05764033e+02] [ 6.24378587e-02 9.98048840e-01 1.62521551e-04 7.75723756e+00] [-4.02921150e-03 8.92292081e-05 9.99991879e-01 -6.78035045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94439141799998 meters 0.05540574621821685 Centerline is valid? [True, True] Translation: X:105.83, Y:7.77, Z:-0.68 [[ 9.98204452e-01 -5.98472013e-02 2.48700430e-03 1.05825701e+02] [ 5.98471376e-02 9.98207549e-01 1.00071752e-04 7.76538730e+00] [-2.48853548e-03 4.89480207e-05 9.99996902e-01 -6.78545767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00439141799998 meters 0.05485715979844862 Centerline is valid? [True, True] Translation: X:105.89, Y:7.77, Z:-0.68 [[ 9.98631266e-01 -5.22060067e-02 3.18236657e-03 1.05885605e+02] [ 5.22058643e-02 9.98636336e-01 1.27862718e-04 7.77377367e+00] [-3.18470209e-03 3.84504893e-05 9.99994928e-01 -6.77674474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06439141799999 meters 0.054882408005574174 Centerline is valid? [True, True] Translation: X:105.95, Y:7.78, Z:-0.68 [[ 9.98935570e-01 -4.59814406e-02 3.66536042e-03 1.05946579e+02] [ 4.59812096e-02 9.98942294e-01 1.47315370e-04 7.78025080e+00] [-3.66825732e-03 2.13791424e-05 9.99993272e-01 -6.78144086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters 0.0547979841343527 Centerline is valid? [True, True] Translation: X:106.01, Y:7.79, Z:-0.68 [[ 9.99301436e-01 -3.72881834e-02 2.49637003e-03 1.06008934e+02] [ 3.72880490e-02 9.99304554e-01 1.00382483e-04 7.78814748e+00] [-2.49837702e-03 -7.22759138e-06 9.99996879e-01 -6.79545234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799998 meters 0.055577768729264135 Centerline is valid? [True, True] Translation: X:106.07, Y:7.79, Z:-0.68 [[ 9.99445830e-01 -3.32126644e-02 2.22511620e-03 1.06071038e+02] [ 3.32125477e-02 9.99448307e-01 8.94235610e-05 7.79373898e+00] [-2.22685862e-03 -1.54722272e-05 9.99997520e-01 -6.79367806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799998 meters 0.05528569969358032 Centerline is valid? [True, True] Translation: X:106.13, Y:7.80, Z:-0.68 [[ 9.99549016e-01 -2.99669644e-02 1.93541407e-03 1.06132829e+02] [ 2.99668698e-02 9.99550889e-01 7.78440138e-05 7.80051666e+00] [-1.93687760e-03 -1.98106060e-05 9.99998124e-01 -6.78868588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30439141799998 meters 0.05518096381400601 Centerline is valid? [True, True] Translation: X:106.19, Y:7.81, Z:-0.68 [[ 9.99542668e-01 -3.02285978e-02 8.29284041e-04 1.06194689e+02] [ 3.02285803e-02 9.99543011e-01 3.36492544e-05 7.80525247e+00] [-8.29922237e-04 -8.56578626e-06 9.99999656e-01 -6.80650666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36439141799998 meters 0.054518679668174 Centerline is valid? [True, True] Translation: X:106.26, Y:7.80, Z:-0.68 [[ 9.99374389e-01 -3.53620889e-02 5.94093858e-04 1.06256801e+02] [ 3.53620806e-02 9.99374566e-01 2.43781256e-05 7.80216741e+00] [-5.94584353e-04 -3.35447947e-06 9.99999823e-01 -6.79486625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42439141799998 meters 0.055711510371360885 Centerline is valid? [True, True] Translation: X:106.32, Y:7.80, Z:-0.68 [[ 9.99203525e-01 -3.99028926e-02 -2.74896139e-04 1.06318924e+02] [ 3.99028913e-02 9.99203562e-01 -1.01917475e-05 7.80102904e+00] [ 2.75083881e-04 -7.85520666e-07 9.99999962e-01 -6.79524427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters 0.05458033018798214 Centerline is valid? [True, True] Translation: X:106.38, Y:7.80, Z:-0.68 [[ 9.98918727e-01 -4.64902397e-02 -1.86635044e-04 1.06380001e+02] [ 4.64902393e-02 9.98918744e-01 -6.72897042e-06 7.79698606e+00] [ 1.86746075e-04 -1.95501329e-06 9.99999983e-01 -6.80586025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799998 meters 0.05533623183043662 Centerline is valid? [True, True] Translation: X:106.44, Y:7.79, Z:-0.68 [[ 9.98649221e-01 -5.19586738e-02 -1.73420196e-04 1.06441229e+02] [ 5.19586735e-02 9.98649236e-01 -6.20241220e-06 7.79488505e+00] [ 1.73508216e-04 -2.81664926e-06 9.99999985e-01 -6.79998194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799998 meters 0.055761135383559035 Centerline is valid? [True, True] Translation: X:106.50, Y:7.80, Z:-0.68 [[ 9.98441366e-01 -5.58075760e-02 5.95081968e-04 1.06502763e+02] [ 5.58075716e-02 9.98441543e-01 2.40850029e-05 7.79695634e+00] [-5.95498683e-04 9.16261628e-06 9.99999823e-01 -6.78260757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66439141799998 meters 0.05543688008432345 Centerline is valid? [True, True] Translation: X:106.56, Y:7.79, Z:-0.68 [[ 9.98098892e-01 -6.15830062e-02 2.47702927e-03 1.06562876e+02] [ 6.15829536e-02 9.98101964e-01 9.75713688e-05 7.79034605e+00] [-2.47833652e-03 5.51569040e-05 9.99996927e-01 -6.79400122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72439141799998 meters 0.05495657039061076 Centerline is valid? [True, True] Translation: X:106.62, Y:7.79, Z:-0.68 [[ 9.97683059e-01 -6.79898091e-02 2.42892885e-03 1.06624074e+02] [ 6.79897774e-02 9.97686013e-01 9.57216845e-05 7.79217459e+00] [-2.42981644e-03 6.96424291e-05 9.99997046e-01 -6.80632872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78439141799998 meters 0.0564188463880068 Centerline is valid? [True, True] Translation: X:106.68, Y:7.79, Z:-0.68 [[ 9.97347525e-01 -7.27726104e-02 1.43601107e-03 1.06684149e+02] [ 7.27726042e-02 9.97348557e-01 5.66321907e-05 7.78556209e+00] [-1.43632484e-03 4.80202898e-05 9.99998967e-01 -6.83198148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters 0.056192159660834906 Centerline is valid? [True, True] Translation: X:106.74, Y:7.79, Z:-0.68 [[ 9.96696224e-01 -8.12192538e-02 2.65752776e-04 1.06744401e+02] [ 8.12192538e-02 9.96696259e-01 1.04878878e-05 7.78914665e+00] [-2.65726616e-04 1.11310041e-05 9.99999965e-01 -6.84052579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799997 meters 0.056045993565736675 Centerline is valid? [True, True] Translation: X:106.80, Y:7.79, Z:-0.68 [[ 9.96239222e-01 -8.66427841e-02 6.63571416e-04 1.06804705e+02] [ 8.66427858e-02 9.96239443e-01 2.61264029e-05 7.78995568e+00] [-6.63339682e-04 3.14655288e-05 9.99999779e-01 -6.84358923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799998 meters 0.05753894490204433 Centerline is valid? [True, True] Translation: X:106.86, Y:7.79, Z:-0.68 [[ 9.95717864e-01 -9.24400816e-02 8.75420748e-04 1.06864326e+02] [ 9.24400868e-02 9.95718248e-01 3.45562743e-05 7.78665925e+00] [-8.74866798e-04 4.65156703e-05 9.99999616e-01 -6.84661659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02439141799998 meters 0.05355347305124427 Centerline is valid? [True, True] Translation: X:106.93, Y:7.81, Z:-0.68 [[ 9.95647838e-01 -9.31860513e-02 1.31980422e-03 1.06925405e+02] [ 9.31860640e-02 9.95648711e-01 5.20646700e-05 7.81175512e+00] [-1.31891307e-03 7.11492845e-05 9.99999128e-01 -6.84339104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08439141799998 meters 0.05430122345378471 Centerline is valid? [True, True] Translation: X:106.99, Y:7.82, Z:-0.69 [[ 9.95985780e-01 -8.94966008e-02 1.63865554e-03 1.06985157e+02] [ 8.94966156e-02 9.95987124e-01 6.43963601e-05 7.81698800e+00] [-1.63784308e-03 8.25162664e-05 9.99998655e-01 -6.85233826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14439141799998 meters 0.05771755829205487 Centerline is valid? [True, True] Translation: X:107.05, Y:7.81, Z:-0.69 [[ 9.96319115e-01 -8.57143650e-02 1.12647293e-03 1.07045442e+02] [ 8.57143697e-02 9.96319750e-01 4.42683841e-05 7.80797209e+00] [-1.12612166e-03 5.24494797e-05 9.99999365e-01 -6.85934433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20439141799999 meters 0.054485278387141914 Centerline is valid? [True, True] Translation: X:107.11, Y:7.83, Z:-0.68 [[ 9.96926013e-01 -7.83085710e-02 2.50828428e-03 1.07105420e+02] [ 7.83085704e-02 9.96929164e-01 9.86028893e-05 7.83131725e+00] [-2.50830320e-03 9.81203706e-05 9.99996849e-01 -6.84479170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799997 meters 0.054751675270824765 Centerline is valid? [True, True] Translation: X:107.17, Y:7.84, Z:-0.69 [[ 9.97381399e-01 -7.22441418e-02 3.33599374e-03 1.07165718e+02] [ 7.22441069e-02 9.97386972e-01 1.31127721e-04 7.83652255e+00] [-3.33674990e-03 1.10221539e-04 9.99994427e-01 -6.85024720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799998 meters 0.05423951299555757 Centerline is valid? [True, True] Translation: X:107.23, Y:7.85, Z:-0.69 [[ 9.97864715e-01 -6.51755947e-02 4.26051228e-03 1.07225620e+02] [ 6.51754738e-02 9.97873804e-01 1.67371469e-04 7.84826848e+00] [-4.26236213e-03 1.10666824e-04 9.99990910e-01 -6.85606401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799998 meters 0.0552094853625678 Centerline is valid? [True, True] Translation: X:107.28, Y:7.86, Z:-0.69 [[ 9.98556366e-01 -5.35476445e-02 4.22291933e-03 1.07284605e+02] [ 5.35474218e-02 9.98565294e-01 1.65856413e-04 7.85788558e+00] [-4.22574190e-03 6.05094655e-05 9.99991070e-01 -6.86345853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44439141799998 meters 0.05492889213417531 Centerline is valid? [True, True] Translation: X:107.34, Y:7.87, Z:-0.69 [[ 9.99064388e-01 -4.30258345e-02 4.37344639e-03 1.07344450e+02] [ 4.30254950e-02 9.99073960e-01 1.71749481e-04 7.87220996e+00] [-4.37678606e-03 1.65809056e-05 9.99990422e-01 -6.86072423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50439141799998 meters 0.054009658065580154 Centerline is valid? [True, True] Translation: X:107.41, Y:7.88, Z:-0.69 [[ 9.99297844e-01 -3.71910499e-02 4.54366358e-03 1.07405780e+02] [ 3.71906228e-02 9.99308174e-01 1.78481365e-04 7.88074133e+00] [-4.54715806e-03 -9.37436515e-06 9.99989662e-01 -6.86339897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56439141799999 meters 0.05529633321770742 Centerline is valid? [True, True] Translation: X:107.47, Y:7.89, Z:-0.69 [[ 9.99523809e-01 -3.03498565e-02 5.57153513e-03 1.07467679e+02] [ 3.03491092e-02 9.99539336e-01 2.18643798e-04 7.88851741e+00] [-5.57560433e-03 -4.94485534e-05 9.99984455e-01 -6.87392090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters 0.05542694080033621 Centerline is valid? [True, True] Translation: X:107.53, Y:7.89, Z:-0.69 [[ 9.99651825e-01 -2.56150379e-02 6.33234875e-03 1.07530029e+02] [ 2.56139800e-02 9.99671877e-01 2.48122338e-04 7.89176947e+00] [-6.33662663e-03 -8.58392938e-05 9.99979920e-01 -6.88194815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799998 meters 0.05525029907374624 Centerline is valid? [True, True] Translation: X:107.59, Y:7.90, Z:-0.69 [[ 9.99729497e-01 -2.25721906e-02 5.60618601e-03 1.07590817e+02] [ 2.25713145e-02 9.99745211e-01 2.19504255e-04 7.89664459e+00] [-5.60971231e-03 -9.29058913e-05 9.99984261e-01 -6.88433578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799998 meters 0.054695617553987726 Centerline is valid? [True, True] Translation: X:107.65, Y:7.89, Z:-0.69 [[ 9.99705395e-01 -2.35441133e-02 5.89903680e-03 1.07653056e+02] [ 2.35431611e-02 9.99722795e-01 2.30818901e-04 7.88876890e+00] [-5.90283599e-03 -9.18689265e-05 9.99982574e-01 -6.88373060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80439141799998 meters 0.05487980586205527 Centerline is valid? [True, True] Translation: X:107.71, Y:7.89, Z:-0.69 [[ 9.99687103e-01 -2.43526136e-02 5.71372805e-03 1.07714423e+02] [ 2.43517346e-02 9.99703428e-01 2.23377776e-04 7.89319537e+00] [-5.71747335e-03 -8.41686924e-05 9.99983652e-01 -6.89181822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86439141799998 meters 0.05540689372423149 Centerline is valid? [True, True] Translation: X:107.78, Y:7.89, Z:-0.69 [[ 9.99604327e-01 -2.78081710e-02 4.23032324e-03 1.07775370e+02] [ 2.78077204e-02 9.99613277e-01 1.65321277e-04 7.88602410e+00] [-4.23328456e-03 -4.76202178e-05 9.99991038e-01 -6.91190902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92439141799998 meters 0.05497629480036379 Centerline is valid? [True, True] Translation: X:107.84, Y:7.88, Z:-0.69 [[ 9.99541641e-01 -2.98422013e-02 5.09419449e-03 1.07837632e+02] [ 2.98415758e-02 9.99554621e-01 1.98760872e-04 7.88375912e+00] [-5.09785711e-03 -4.66509774e-05 9.99987005e-01 -6.92594494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters 0.05561179957152817 Centerline is valid? [True, True] Translation: X:107.90, Y:7.88, Z:-0.69 [[ 9.99559267e-01 -2.94328114e-02 3.87063875e-03 1.07900131e+02] [ 2.94324469e-02 9.99566760e-01 1.51100385e-04 7.87655127e+00] [-3.87340915e-03 -3.71114206e-05 9.99992498e-01 -6.92301856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799998 meters 0.05544747469203298 Centerline is valid? [True, True] Translation: X:107.96, Y:7.88, Z:-0.69 [[ 9.99592929e-01 -2.81203768e-02 4.81870506e-03 1.07960903e+02] [ 2.81198011e-02 9.99604543e-01 1.87189484e-04 7.88087896e+00] [-4.82206331e-03 -5.16122565e-05 9.99988372e-01 -6.92294888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799998 meters 0.0550061720687746 Centerline is valid? [True, True] Translation: X:108.02, Y:7.87, Z:-0.69 [[ 9.99646093e-01 -2.59081751e-02 6.03781174e-03 1.08023762e+02] [ 2.59072323e-02 9.99664324e-01 2.34318156e-04 7.87003313e+00] [-6.04185575e-03 -7.78122380e-05 9.99981745e-01 -6.92031331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16439141799998 meters 0.055362892499576544 Centerline is valid? [True, True] Translation: X:108.09, Y:7.87, Z:-0.69 [[ 9.99665062e-01 -2.52020121e-02 5.88416515e-03 1.08086174e+02] [ 2.52011055e-02 9.99682376e-01 2.28179724e-04 7.87018985e+00] [-5.88804678e-03 -7.98158312e-05 9.99982662e-01 -6.93697067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22439141799998 meters 0.055184537701666404 Centerline is valid? [True, True] Translation: X:108.15, Y:7.86, Z:-0.70 [[ 9.99639550e-01 -2.66196748e-02 3.48758035e-03 1.08147404e+02] [ 2.66193645e-02 9.99645633e-01 1.35373489e-04 7.86445340e+00] [-3.48994807e-03 -4.24875207e-05 9.99993909e-01 -6.95792526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28439141799998 meters 0.05638237843734327 Centerline is valid? [True, True] Translation: X:108.21, Y:7.86, Z:-0.70 [[ 9.99557138e-01 -2.96538698e-02 2.48493495e-03 1.08210150e+02] [ 2.96537224e-02 9.99560227e-01 9.61229908e-05 7.85648046e+00] [-2.48669256e-03 -2.23928503e-05 9.99996908e-01 -6.96612653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters 0.05561392516408025 Centerline is valid? [True, True] Translation: X:108.27, Y:7.85, Z:-0.70 [[ 9.99518456e-01 -3.09736758e-02 1.86769619e-03 1.08271783e+02] [ 3.09735951e-02 9.99520201e-01 7.21599265e-05 7.85344969e+00] [-1.86903513e-03 -1.42759126e-05 9.99998253e-01 -6.96279364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799997 meters 0.05568814542503154 Centerline is valid? [True, True] Translation: X:108.33, Y:7.85, Z:-0.70 [[ 9.99484682e-01 -3.20199039e-02 2.25753954e-03 1.08334501e+02] [ 3.20197887e-02 9.99487231e-01 8.71871658e-05 7.85141659e+00] [-2.25917367e-03 -1.48562977e-05 9.99997448e-01 -6.95849566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799998 meters 0.055437396447589736 Centerline is valid? [True, True] Translation: X:108.40, Y:7.85, Z:-0.70 [[ 9.99479412e-01 -3.20611900e-02 3.60354655e-03 1.08396690e+02] [ 3.20608977e-02 9.99485908e-01 1.38862928e-04 7.84870223e+00] [-3.60614610e-03 -2.32577006e-05 9.99993498e-01 -6.95632684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52439141799998 meters 0.056100785699382476 Centerline is valid? [True, True] Translation: X:108.46, Y:7.84, Z:-0.70 [[ 9.99467346e-01 -3.23252421e-02 4.48366100e-03 1.08459135e+02] [ 3.23247930e-02 9.99477402e-01 1.72621625e-04 7.84359866e+00] [-4.48689789e-03 -2.75962641e-05 9.99989933e-01 -6.96378677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58439141799998 meters 0.05581890577870186 Centerline is valid? [True, True] Translation: X:108.52, Y:7.84, Z:-0.70 [[ 9.99423976e-01 -3.36509390e-02 4.39669854e-03 1.08520858e+02] [ 3.36505211e-02 9.99433647e-01 1.69010325e-04 7.83831067e+00] [-4.39989581e-03 -2.09617737e-05 9.99990320e-01 -6.95237988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64439141799998 meters 0.05602707142134914 Centerline is valid? [True, True] Translation: X:108.58, Y:7.84, Z:-0.69 [[ 9.99394055e-01 -3.44737661e-02 4.80436959e-03 1.08583423e+02] [ 3.44732785e-02 9.99405603e-01 1.84288376e-04 7.83718341e+00] [-4.80786700e-03 -1.85543369e-05 9.99988442e-01 -6.94921939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70439141799999 meters 0.05615302512344943 Centerline is valid? [True, True] Translation: X:108.65, Y:7.83, Z:-0.69 [[ 9.99331607e-01 -3.62476803e-02 4.73753099e-03 1.08646153e+02] [ 3.62472271e-02 9.99342837e-01 1.81510043e-04 7.83066208e+00] [-4.74099697e-03 -9.66636167e-06 9.99988761e-01 -6.94630082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799997 meters 0.05668140331237893 Centerline is valid? [True, True] Translation: X:108.71, Y:7.82, Z:-0.70 [[ 9.99273623e-01 -3.79676196e-02 3.26899430e-03 1.08708668e+02] [ 3.79674124e-02 9.99278970e-01 1.25433065e-04 7.82499764e+00] [-3.27139965e-03 -1.22669822e-06 9.99994649e-01 -6.96510170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799998 meters 0.056963522351369804 Centerline is valid? [True, True] Translation: X:108.77, Y:7.82, Z:-0.70 [[ 9.99217023e-01 -3.95112617e-02 2.04979436e-03 1.08770911e+02] [ 3.95111841e-02 9.99219125e-01 7.83433388e-05 7.82222163e+00] [-2.05128917e-03 2.70780466e-06 9.99997896e-01 -6.99146691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799998 meters 0.056912233290667726 Centerline is valid? [True, True] Translation: X:108.83, Y:7.82, Z:-0.70 [[ 9.99108214e-01 -4.21616038e-02 2.27525341e-03 1.08832959e+02] [ 4.21615153e-02 9.99110804e-01 8.68685896e-05 7.81904335e+00] [-2.27689278e-03 9.13700998e-06 9.99997408e-01 -6.98209077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94439141799998 meters 0.05723930151867414 Centerline is valid? [True, True] Translation: X:108.90, Y:7.82, Z:-0.70 [[ 9.99090383e-01 -4.25497515e-02 2.81533942e-03 1.08895645e+02] [ 4.25496180e-02 9.99094349e-01 1.07337146e-04 7.81757103e+00] [-2.81735687e-03 1.25521059e-05 9.99996031e-01 -6.96735310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00439141799998 meters 0.05758991893651538 Centerline is valid? [True, True] Translation: X:108.96, Y:7.82, Z:-0.70 [[ 9.99149940e-01 -4.11512408e-02 2.44372838e-03 1.08957328e+02] [ 4.11511364e-02 9.99152929e-01 9.29877998e-05 7.81737073e+00] [-2.44548493e-03 7.65344524e-06 9.99997010e-01 -6.96973827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06439141799999 meters 0.0571568649453521 Centerline is valid? [True, True] Translation: X:109.02, Y:7.82, Z:-0.70 [[ 9.99258918e-01 -3.84180087e-02 2.38161160e-03 1.09019771e+02] [ 3.84179017e-02 9.99261756e-01 9.06612330e-05 7.81647488e+00] [-2.38333642e-03 9.02474998e-07 9.99997160e-01 -6.97414734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799997 meters 0.057403788059852745 Centerline is valid? [True, True] Translation: X:109.08, Y:7.82, Z:-0.70 [[ 9.99341174e-01 -3.61817569e-02 2.84569262e-03 1.09081546e+02] [ 3.61815956e-02 9.99345226e-01 1.08185234e-04 7.81522409e+00] [-2.84774367e-03 -5.15225959e-06 9.99995945e-01 -6.97379601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799998 meters 0.05822533467711232 Centerline is valid? [True, True] Translation: X:109.15, Y:7.81, Z:-0.70 [[ 9.99341486e-01 -3.61338339e-02 3.30756421e-03 1.09145127e+02] [ 3.61336167e-02 9.99346960e-01 1.25421359e-04 7.81325583e+00] [-3.30993619e-03 -5.82450977e-06 9.99994522e-01 -6.97042288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799998 meters 0.057377311764216295 Centerline is valid? [True, True] Translation: X:109.21, Y:7.81, Z:-0.70 [[ 9.99292419e-01 -3.75415793e-02 2.30009728e-03 1.09206866e+02] [ 3.75414780e-02 9.99295066e-01 8.71991800e-05 7.81017048e+00] [-2.30174945e-03 -7.88428284e-07 9.99997351e-01 -6.96507685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30439141799998 meters 0.058165424834481776 Centerline is valid? [True, True] Translation: X:109.27, Y:7.81, Z:-0.70 [[ 9.99274829e-01 -3.80521650e-02 1.35945122e-03 1.09269557e+02] [ 3.80521303e-02 9.99275754e-01 5.14006707e-05 7.80706259e+00] [-1.36042255e-03 3.66618426e-07 9.99999075e-01 -6.98677598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36439141799998 meters 0.0580652642881527 Centerline is valid? [True, True] Translation: X:109.33, Y:7.80, Z:-0.70 [[ 9.99243692e-01 -3.88498118e-02 1.65386252e-03 1.09332807e+02] [ 3.88497614e-02 9.99245061e-01 6.25740164e-05 7.80483252e+00] [-1.65504494e-03 1.72547304e-06 9.99998630e-01 -7.00127686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42439141799998 meters 0.05880434818902291 Centerline is valid? [True, True] Translation: X:109.39, Y:7.80, Z:-0.70 [[ 9.99217314e-01 -3.95528715e-02 5.73717768e-04 1.09394409e+02] [ 3.95528656e-02 9.99217479e-01 2.17204149e-05 7.80214981e+00] [-5.74127926e-04 9.88767153e-07 9.99999835e-01 -6.98601501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters 0.05791039824518042 Centerline is valid? [True, True] Translation: X:109.46, Y:7.80, Z:-0.70 [[ 9.99184637e-01 -4.03706597e-02 5.19792017e-04 1.09456181e+02] [ 4.03706549e-02 9.99184773e-01 1.97067255e-05 7.80232151e+00] [-5.20163842e-04 1.29368676e-06 9.99999865e-01 -6.98002542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799998 meters 0.05757679305335189 Centerline is valid? [True, True] Translation: X:109.52, Y:7.80, Z:-0.70 [[ 9.99101122e-01 -4.23881566e-02 4.38269683e-04 1.09518268e+02] [ 4.23881533e-02 9.99101218e-01 1.67049095e-05 7.79948606e+00] [-4.38583864e-04 1.88754867e-06 9.99999904e-01 -6.98554513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799998 meters 0.05788413831942976 Centerline is valid? [True, True] Translation: X:109.58, Y:7.80, Z:-0.70 [[ 9.99011165e-01 -4.44558491e-02 6.08656576e-04 1.09579536e+02] [ 4.44558433e-02 9.99011350e-01 2.29835355e-05 7.79506152e+00] [-6.09076580e-04 4.09753277e-06 9.99999815e-01 -6.98642959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66439141799998 meters 0.05773500766463355 Centerline is valid? [True, True] Translation: X:109.64, Y:7.79, Z:-0.70 [[ 9.98923572e-01 -4.63604765e-02 1.55054660e-03 1.09641307e+02] [ 4.63604419e-02 9.98924775e-01 5.82573533e-05 7.79335275e+00] [-1.55158026e-03 1.36893823e-05 9.99998796e-01 -6.98606134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72439141799998 meters 0.058113340688623984 Centerline is valid? [True, True] Translation: X:109.70, Y:7.79, Z:-0.70 [[ 9.98811418e-01 -4.86970772e-02 2.08474408e-03 1.09703826e+02] [ 4.86970198e-02 9.98813593e-01 7.83167099e-05 7.79281497e+00] [-2.08608453e-03 2.32971999e-05 9.99997824e-01 -6.98500099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78439141799998 meters 0.057448501726794436 Centerline is valid? [True, True] Translation: X:109.76, Y:7.79, Z:-0.70 [[ 9.98738443e-01 -5.01836561e-02 1.76731291e-03 1.09764947e+02] [ 5.01836174e-02 9.98740006e-01 6.62865185e-05 7.78889376e+00] [-1.76841260e-03 2.24872604e-05 9.99998436e-01 -6.99473766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters 0.05947646752306864 Centerline is valid? [True, True] Translation: X:109.83, Y:7.79, Z:-0.70 [[ 9.98620569e-01 -5.24977813e-02 9.70610382e-04 1.09827189e+02] [ 5.24977705e-02 9.98621041e-01 3.65320583e-05 7.78789334e+00] [-9.71189802e-04 1.44732162e-05 9.99999528e-01 -6.99873465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799997 meters 0.058272016359658944 Centerline is valid? [True, True] Translation: X:109.89, Y:7.79, Z:-0.70 [[ 9.98583093e-01 -5.32145992e-02 1.10419845e-04 1.09888209e+02] [ 5.32145991e-02 9.98583099e-01 4.27493765e-06 7.79201806e+00] [-1.10490880e-04 1.60706731e-06 9.99999994e-01 -6.99879855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799998 meters 0.05904633183014751 Centerline is valid? [True, True] Translation: X:109.95, Y:7.79, Z:-0.70 [[ 9.98629519e-01 -5.23360458e-02 -1.46447995e-04 1.09950180e+02] [ 5.23360456e-02 9.98629530e-01 -5.21129214e-06 7.79217280e+00] [ 1.46520031e-04 -2.46035878e-06 9.99999989e-01 -7.01395670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02439141799998 meters 0.05891314195540736 Centerline is valid? [True, True] Translation: X:110.01, Y:7.80, Z:-0.70 [[ 9.98902799e-01 -4.68232582e-02 8.83748032e-04 1.10011956e+02] [ 4.68232472e-02 9.98903190e-01 3.31519590e-05 7.79651189e+00] [-8.84331011e-04 8.26436793e-06 9.99999609e-01 -7.01178239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08439141799998 meters 0.05906846179791061 Centerline is valid? [True, True] Translation: X:110.07, Y:7.80, Z:-0.70 [[ 9.99135777e-01 -4.15542136e-02 9.72622722e-04 1.10073435e+02] [ 4.15541978e-02 9.99136251e-01 3.64317978e-05 7.80219409e+00] [-9.73296514e-04 4.01624436e-06 9.99999526e-01 -7.00303144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14439141799998 meters 0.057895110690979044 Centerline is valid? [True, True] Translation: X:110.13, Y:7.81, Z:-0.70 [[ 9.99428574e-01 -3.37717523e-02 1.41221300e-03 1.10134588e+02] [ 3.37717115e-02 9.99429572e-01 5.27094246e-05 7.80912304e+00] [-1.41318753e-03 -4.98645497e-06 9.99999001e-01 -6.99614149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20439141799999 meters 0.05831268505989868 Centerline is valid? [True, True] Translation: X:110.20, Y:7.81, Z:-0.70 [[ 9.99570216e-01 -2.92786859e-02 1.46378402e-03 1.10195718e+02] [ 2.92786374e-02 9.99571287e-01 5.45882897e-05 7.81228762e+00] [-1.46475475e-03 -1.17072271e-05 9.99998927e-01 -6.99617249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799997 meters 0.05848068376857485 Centerline is valid? [True, True] Translation: X:110.26, Y:7.81, Z:-0.70 [[ 9.99489424e-01 -3.19430953e-02 7.27415488e-04 1.10258373e+02] [ 3.19430839e-02 9.99489689e-01 2.73141602e-05 7.81264606e+00] [-7.27916779e-04 -4.06432033e-06 9.99999735e-01 -7.01072723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799998 meters 0.0579184908993713 Centerline is valid? [True, True] Translation: X:110.32, Y:7.81, Z:-0.70 [[ 9.99333605e-01 -3.65010640e-02 1.32810580e-04 1.10320115e+02] [ 3.65010636e-02 9.99333614e-01 5.59783289e-06 7.81181659e+00] [-1.32926404e-04 -7.46375090e-07 9.99999991e-01 -7.00905373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799998 meters 0.059450190821212036 Centerline is valid? [True, True] Translation: X:110.38, Y:7.81, Z:-0.70 [[ 9.99022367e-01 -4.42072426e-02 -1.71321427e-04 1.10381981e+02] [ 4.42072423e-02 9.99022382e-01 -5.64446905e-06 7.81211073e+00] [ 1.71403466e-04 -1.93469699e-06 9.99999985e-01 -7.00013737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44439141799998 meters 0.05838437887664488 Centerline is valid? [True, True] Translation: X:110.44, Y:7.81, Z:-0.70 [[ 9.98609325e-01 -5.27192905e-02 3.05591001e-04 1.10443284e+02] [ 5.27192895e-02 9.98609371e-01 1.13776377e-05 7.80973891e+00] [-3.05765858e-04 4.74872539e-06 9.99999953e-01 -7.01166453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50439141799998 meters 0.059137040850336164 Centerline is valid? [True, True] Translation: X:110.50, Y:7.82, Z:-0.70 [[ 9.98504186e-01 -5.46743252e-02 3.28380357e-04 1.10504221e+02] [ 5.46743241e-02 9.98504240e-01 1.22605824e-05 7.81649743e+00] [-3.28559518e-04 5.71173120e-06 9.99999946e-01 -7.00126307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56439141799999 meters 0.06010598276748628 Centerline is valid? [True, True] Translation: X:110.56, Y:7.81, Z:-0.70 [[ 9.98108490e-01 -6.14752187e-02 4.90563696e-04 1.10564531e+02] [ 6.14752172e-02 9.98108610e-01 1.80998164e-05 7.80665571e+00] [-4.90748539e-04 1.20919293e-05 9.99999880e-01 -7.03041895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799997 meters 0.05905441863990106 Centerline is valid? [True, True] Translation: X:110.63, Y:7.81, Z:-0.70 [[ 9.97800770e-01 -6.62786502e-02 8.73757416e-04 1.10625222e+02] [ 6.62786473e-02 9.97801152e-01 3.22762177e-05 7.80913822e+00] [-8.73975381e-04 2.57062247e-05 9.99999618e-01 -7.02814206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799998 meters 0.058425713664932655 Centerline is valid? [True, True] Translation: X:110.69, Y:7.81, Z:-0.70 [[ 9.97296916e-01 -7.34644433e-02 1.35520751e-03 1.10685140e+02] [ 7.34644431e-02 9.97297836e-01 4.99840170e-05 7.81496341e+00] [-1.35521756e-03 4.97106590e-05 9.99999080e-01 -7.01968023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799998 meters 0.060929101998241766 Centerline is valid? [True, True] Translation: X:110.75, Y:7.81, Z:-0.70 [[ 9.96845739e-01 -7.93531388e-02 1.28500752e-03 1.10746257e+02] [ 7.93531435e-02 9.96846566e-01 4.74182598e-05 7.81044061e+00] [-1.28471812e-03 5.47006959e-05 9.99999173e-01 -7.03979484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80439141799998 meters 0.06027636419918064 Centerline is valid? [True, True] Translation: X:110.81, Y:7.82, Z:-0.70 [[ 9.96729270e-01 -8.08057720e-02 1.09070470e-03 1.10806677e+02] [ 8.08057763e-02 9.96729866e-01 4.02405841e-05 7.81560079e+00] [-1.09038962e-03 4.80262716e-05 9.99999404e-01 -7.04991741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86439141799998 meters 0.061521064939634724 Centerline is valid? [True, True] Translation: X:110.87, Y:7.82, Z:-0.71 [[ 9.96877069e-01 -7.89597134e-02 1.21390826e-03 1.10866670e+02] [ 7.89597173e-02 9.96877806e-01 4.47315699e-05 7.82025544e+00] [-1.21365020e-03 5.12579771e-05 9.99999262e-01 -7.06476447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92439141799998 meters 0.05973742549213224 Centerline is valid? [True, True] Translation: X:110.93, Y:7.84, Z:-0.71 [[ 9.97330004e-01 -7.30168586e-02 1.18347864e-03 1.10926242e+02] [ 7.30168582e-02 9.97330706e-01 4.36063728e-05 7.83791282e+00] [-1.18350359e-03 4.29239482e-05 9.99999299e-01 -7.05183365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters 0.057400109207678976 Centerline is valid? [True, True] Translation: X:110.99, Y:7.86, Z:-0.70 [[ 9.97672090e-01 -6.81689666e-02 1.84181860e-03 1.10986330e+02] [ 6.81689574e-02 9.97673789e-01 6.78133316e-05 7.85884436e+00] [-1.84215690e-03 5.78993854e-05 9.99998302e-01 -7.03620407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799998 meters 0.05999831601036211 Centerline is valid? [True, True] Translation: X:111.05, Y:7.86, Z:-0.71 [[ 9.97968193e-01 -6.36995882e-02 1.35959926e-03 1.11045666e+02] [ 6.36995790e-02 9.97969118e-01 5.01283944e-05 7.86083956e+00] [-1.36003124e-03 3.65793576e-05 9.99999074e-01 -7.05559876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799998 meters 0.058268891322384726 Centerline is valid? [True, True] Translation: X:111.11, Y:7.88, Z:-0.71 [[ 9.98221791e-01 -5.95759393e-02 1.99075064e-03 1.11106242e+02] [ 5.95759113e-02 9.98223775e-01 7.34288459e-05 7.87721411e+00] [-1.99158921e-03 4.53025092e-05 9.99998016e-01 -7.06879847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16439141799998 meters 0.05774560123972206 Centerline is valid? [True, True] Translation: X:111.17, Y:7.88, Z:-0.71 [[ 9.98181470e-01 -6.02411826e-02 2.18014216e-03 1.11167643e+02] [ 6.02411505e-02 9.98183849e-01 8.04347477e-05 7.88079747e+00] [-2.18102818e-03 5.10457974e-05 9.99997620e-01 -7.07129472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22439141799998 meters 0.05735159031541899 Centerline is valid? [True, True] Translation: X:111.23, Y:7.89, Z:-0.71 [[ 9.97894212e-01 -6.48398564e-02 1.71314252e-03 1.11227928e+02] [ 6.48398435e-02 9.97895681e-01 6.30951202e-05 7.89423835e+00] [-1.71362860e-03 4.81176376e-05 9.99998531e-01 -7.06277936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28439141799998 meters 0.05779730787335903 Centerline is valid? [True, True] Translation: X:111.29, Y:7.90, Z:-0.71 [[ 9.97489952e-01 -7.07984956e-02 1.16988848e-03 1.11288414e+02] [ 7.07984936e-02 9.97490637e-01 4.31669290e-05 7.89994578e+00] [-1.17000895e-03 3.97677638e-05 9.99999315e-01 -7.06547544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters 0.0567307357190128 Centerline is valid? [True, True] Translation: X:111.35, Y:7.91, Z:-0.71 [[ 9.97244342e-01 -7.41591964e-02 2.03379624e-03 1.11349154e+02] [ 7.41591977e-02 9.97246413e-01 7.48680812e-05 7.90877757e+00] [-2.03374816e-03 7.61629268e-05 9.99997929e-01 -7.06515183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799997 meters 0.0597188268735076 Centerline is valid? [True, True] Translation: X:111.41, Y:7.90, Z:-0.71 [[ 9.97033821e-01 -7.69106045e-02 2.88413062e-03 1.11409740e+02] [ 7.69106187e-02 9.97037986e-01 1.06172275e-04 7.90377193e+00] [-2.88375356e-03 1.15962921e-04 9.99995835e-01 -7.08675964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799998 meters 0.058981800895119625 Centerline is valid? [True, True] Translation: X:111.47, Y:7.91, Z:-0.71 [[ 9.96864098e-01 -7.90320458e-02 3.98829192e-03 1.11469974e+02] [ 7.90320900e-02 9.96872062e-01 1.46766356e-04 7.91400226e+00] [-3.98741603e-03 1.68896934e-04 9.99992036e-01 -7.08406179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52439141799998 meters 0.05641346914933485 Centerline is valid? [True, True] Translation: X:111.53, Y:7.93, Z:-0.71 [[ 9.96819394e-01 -7.95700909e-02 4.43816695e-03 1.11531855e+02] [ 7.95701504e-02 9.96829255e-01 1.63449991e-04 7.93034263e+00] [-4.43710039e-03 1.90215491e-04 9.99990138e-01 -7.07587721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58439141799998 meters 0.057527025325522486 Centerline is valid? [True, True] Translation: X:111.59, Y:7.93, Z:-0.71 [[ 9.96821412e-01 -7.95911573e-02 3.51006893e-03 1.11592963e+02] [ 7.95911957e-02 9.96827580e-01 1.28989344e-04 7.93237025e+00] [-3.50919993e-03 1.50791243e-04 9.99993831e-01 -7.07590204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64439141799998 meters 0.057603491251658305 Centerline is valid? [True, True] Translation: X:111.65, Y:7.94, Z:-0.71 [[ 9.96807373e-01 -7.97828966e-02 3.12252632e-03 1.11654253e+02] [ 7.97829290e-02 9.96812255e-01 1.14357617e-04 7.93549213e+00] [-3.12169629e-03 1.35131780e-04 9.99995118e-01 -7.08543835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70439141799999 meters 0.0571842081397018 Centerline is valid? [True, True] Translation: X:111.72, Y:7.94, Z:-0.71 [[ 9.96769717e-01 -8.02635712e-02 2.80892382e-03 1.11715865e+02] [ 8.02636000e-02 9.96773667e-01 1.02673292e-04 7.94496095e+00] [-2.80810222e-03 1.23112710e-04 9.99996050e-01 -7.09977380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799997 meters 0.055644573809757805 Centerline is valid? [True, True] Translation: X:111.78, Y:7.96, Z:-0.71 [[ 9.96763070e-01 -8.03370040e-02 3.05751516e-03 1.11777509e+02] [ 8.03370381e-02 9.96767750e-01 1.11845192e-04 7.95897941e+00] [-3.05661781e-03 1.34148554e-04 9.99995320e-01 -7.09716632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799998 meters 0.057379865010226384 Centerline is valid? [True, True] Translation: X:111.84, Y:7.96, Z:-0.71 [[ 9.96924464e-01 -7.83565480e-02 1.36567833e-03 1.11836921e+02] [ 7.83565532e-02 9.96925397e-01 4.97891229e-05 7.95917569e+00] [-1.36538071e-03 5.73738517e-05 9.99999066e-01 -7.10941707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799998 meters 0.05729329286837795 Centerline is valid? [True, True] Translation: X:111.90, Y:7.97, Z:-0.71 [[ 9.97236975e-01 -7.42781269e-02 1.08449221e-03 1.11897618e+02] [ 7.42781280e-02 9.97237564e-01 3.94008423e-05 7.97034126e+00] [-1.08442299e-03 4.12620746e-05 9.99999411e-01 -7.10760869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94439141799998 meters 0.0567272887344984 Centerline is valid? [True, True] Translation: X:111.96, Y:7.98, Z:-0.71 [[ 9.97762343e-01 -6.68371474e-02 1.76117193e-03 1.11957560e+02] [ 6.68371385e-02 9.97763896e-01 6.39616472e-05 7.98372494e+00] [-1.76150878e-03 5.38931694e-05 9.99998447e-01 -7.09258381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00439141799998 meters 0.0566436961394935 Centerline is valid? [True, True] Translation: X:112.02, Y:7.98, Z:-0.71 [[ 9.98196314e-01 -6.00143367e-02 1.54831525e-03 1.12017125e+02] [ 6.00143217e-02 9.98197515e-01 5.61906312e-05 7.98410714e+00] [-1.54889668e-03 3.68318085e-05 9.99998800e-01 -7.11483999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06439141799999 meters 0.05557077886362103 Centerline is valid? [True, True] Translation: X:112.08, Y:8.01, Z:-0.71 [[ 9.98720038e-01 -5.05304044e-02 2.22795269e-03 1.12077208e+02] [ 5.05303497e-02 9.98722523e-01 8.08986140e-05 8.00508908e+00] [-2.22919437e-03 3.17841615e-05 9.99997515e-01 -7.10458925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799997 meters 0.05515100074643338 Centerline is valid? [True, True] Translation: X:112.14, Y:8.01, Z:-0.71 [[ 9.98982084e-01 -4.49939663e-02 3.21543920e-03 1.12137840e+02] [ 4.49938231e-02 9.98987258e-01 1.16876829e-04 8.01278070e+00] [-3.21744154e-03 2.79170449e-05 9.99994824e-01 -7.09242728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799998 meters 0.055318566199830936 Centerline is valid? [True, True] Translation: X:112.20, Y:8.02, Z:-0.71 [[ 9.99209144e-01 -3.95961705e-02 3.63729514e-03 1.12199035e+02] [ 3.95959517e-02 9.99215764e-01 1.32174601e-04 8.01932268e+00] [-3.63967626e-03 1.19520934e-05 9.99993376e-01 -7.09939771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799998 meters 0.05549672582798134 Centerline is valid? [True, True] Translation: X:112.26, Y:8.02, Z:-0.71 [[ 9.99250640e-01 -3.85509044e-02 3.46203954e-03 1.12261298e+02] [ 3.85507002e-02 9.99256638e-01 1.25701233e-04 8.02270858e+00] [-3.46431188e-03 7.85701088e-06 9.99993999e-01 -7.11030014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30439141799998 meters 0.05501741394918432 Centerline is valid? [True, True] Translation: X:112.32, Y:8.02, Z:-0.71 [[ 9.99188714e-01 -4.02057637e-02 2.32584382e-03 1.12322335e+02] [ 4.02056754e-02 9.99191421e-01 8.47140223e-05 8.02435744e+00] [-2.32736918e-03 8.86682655e-06 9.99997292e-01 -7.12250509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36439141799998 meters 0.054976174349643456 Centerline is valid? [True, True] Translation: X:112.38, Y:8.02, Z:-0.71 [[ 9.99019993e-01 -4.42545258e-02 7.67898935e-04 1.12384869e+02] [ 4.42545170e-02 9.99020289e-01 2.83669597e-05 8.02482572e+00] [-7.68401982e-04 5.64383662e-06 9.99999705e-01 -7.12387954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42439141799998 meters 0.05566992737817698 Centerline is valid? [True, True] Translation: X:112.45, Y:8.02, Z:-0.71 [[ 9.98815229e-01 -4.86628730e-02 2.51426201e-04 1.12447348e+02] [ 4.86628722e-02 9.98815261e-01 9.28933862e-06 8.02337859e+00] [-2.51580372e-04 2.95678818e-06 9.99999968e-01 -7.13220451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799997 meters 0.05541028483209979 Centerline is valid? [True, True] Translation: X:112.51, Y:8.02, Z:-0.71 [[ 9.98666354e-01 -5.16285978e-02 2.78630427e-05 1.12508929e+02] [ 5.16285978e-02 9.98666355e-01 1.19747181e-06 8.02076142e+00] [-2.78877071e-05 2.42655023e-07 1.00000000e+00 -7.14712442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799998 meters 0.05612017068794885 Centerline is valid? [True, True] Translation: X:112.57, Y:8.02, Z:-0.72 [[ 9.98427805e-01 -5.60525261e-02 -1.80058250e-04 1.12569501e+02] [ 5.60525259e-02 9.98427821e-01 -6.42121447e-06 8.02211435e+00] [ 1.80135092e-04 -3.68160065e-06 9.99999984e-01 -7.15087374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799998 meters 0.05550579077619648 Centerline is valid? [True, True] Translation: X:112.63, Y:8.02, Z:-0.72 [[ 9.98279914e-01 -5.86275405e-02 1.54677240e-04 1.12630911e+02] [ 5.86275403e-02 9.98279926e-01 6.19208895e-06 8.02126004e+00] [-1.54774211e-04 2.88690812e-06 9.99999988e-01 -7.15326334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66439141799998 meters 0.05601892574901261 Centerline is valid? [True, True] Translation: X:112.69, Y:8.02, Z:-0.71 [[ 9.97973029e-01 -6.36343799e-02 7.05971393e-04 1.12691055e+02] [ 6.36343780e-02 9.97973279e-01 2.53066622e-05 8.02149891e+00] [-7.06150959e-04 1.96686841e-05 9.99999750e-01 -7.14012710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72439141799998 meters 0.05698217165884477 Centerline is valid? [True, True] Translation: X:112.75, Y:8.02, Z:-0.72 [[ 9.97748290e-01 -6.70697177e-02 5.60599960e-05 1.12750876e+02] [ 6.70697177e-02 9.97748291e-01 1.98696224e-06 8.01667207e+00] [-5.60670303e-05 1.77743993e-06 9.99999998e-01 -7.15465875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78439141799998 meters 0.05497733407048174 Centerline is valid? [True, True] Translation: X:112.81, Y:8.02, Z:-0.71 [[ 9.97427536e-01 -7.16819104e-02 1.19302135e-04 1.12811643e+02] [ 7.16819104e-02 9.97427543e-01 4.29379866e-06 8.02451547e+00] [-1.19303023e-04 4.26905190e-06 9.99999993e-01 -7.14715624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters 0.057067246563518866 Centerline is valid? [True, True] Translation: X:112.87, Y:8.02, Z:-0.72 [[ 9.96865282e-01 -7.91134124e-02 -8.23237445e-04 1.12871466e+02] [ 7.91134152e-02 9.96865621e-01 -2.93215990e-05 8.01501634e+00] [ 8.22976838e-04 -3.58994417e-05 9.99999661e-01 -7.16536340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799997 meters 0.06491172888171666 Centerline is valid? [True, True] Translation: X:112.93, Y:8.00, Z:-0.72 [[ 9.96298008e-01 -8.59455824e-02 -1.90710541e-03 1.12931636e+02] [ 8.59456089e-02 9.96299828e-01 -6.81970733e-05 7.99542272e+00] [ 1.90591003e-03 -9.59627278e-05 9.99998179e-01 -7.19759479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799998 meters 0.054648971692651996 Centerline is valid? [True, True] Translation: X:112.99, Y:8.03, Z:-0.71 [[ 9.95844093e-01 -9.10688857e-02 -1.00014878e-03 1.12991100e+02] [ 9.10688956e-02 9.95844594e-01 -3.57665153e-05 8.02973613e+00] [ 9.99249976e-04 -5.54645722e-05 9.99999499e-01 -7.14793148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02439141799998 meters 0.054214098322304026 Centerline is valid? [True, True] Translation: X:113.05, Y:8.03, Z:-0.71 [[ 9.95670142e-01 -9.29531069e-02 -8.29838606e-04 1.13052196e+02] [ 9.29531142e-02 9.95670487e-01 -2.97775058e-05 8.03434980e+00] [ 8.29013720e-04 -4.74875093e-05 9.99999655e-01 -7.14793748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08439141799998 meters 0.054124510233334075 Centerline is valid? [True, True] Translation: X:113.11, Y:8.04, Z:-0.72 [[ 9.95660967e-01 -9.30430283e-02 -1.49438553e-03 1.13112824e+02] [ 9.30430532e-02 9.95662085e-01 -5.30407878e-05 8.03923842e+00] [ 1.49283809e-03 -8.62315504e-05 9.99998882e-01 -7.15689778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14439141799998 meters 0.05440817628635312 Centerline is valid? [True, True] Translation: X:113.17, Y:8.05, Z:-0.72 [[ 9.95984963e-01 -8.95188631e-02 -5.71519071e-04 1.13173320e+02] [ 8.95188661e-02 9.95985127e-01 -2.04283575e-05 8.04560174e+00] [ 5.71053218e-04 -3.08154023e-05 9.99999836e-01 -7.16731325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters 0.055311823156751004 Centerline is valid? [True, True] Translation: X:113.23, Y:8.05, Z:-0.72 [[ 9.96450459e-01 -8.41771964e-02 8.25755532e-04 1.13232764e+02] [ 8.41772008e-02 9.96450801e-01 2.94688029e-05 8.04827577e+00] [-8.25305362e-04 4.01455871e-05 9.99999659e-01 -7.15695810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799997 meters 0.05598874648038376 Centerline is valid? [True, True] Translation: X:113.29, Y:8.06, Z:-0.71 [[ 9.97316235e-01 -7.31742650e-02 2.41963289e-03 1.13291672e+02] [ 7.31742702e-02 9.97319166e-01 8.65110089e-05 8.05724883e+00] [-2.41947664e-03 9.07760371e-05 9.99997069e-01 -7.13445469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799998 meters 0.05566963877474798 Centerline is valid? [True, True] Translation: X:113.35, Y:8.07, Z:-0.71 [[ 9.97793832e-01 -6.62925947e-02 3.57229391e-03 1.13352309e+02] [ 6.62925620e-02 9.97800220e-01 1.27695449e-04 8.06632803e+00] [-3.57290091e-03 1.09402784e-04 9.99993611e-01 -7.13824975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799998 meters 0.05537034507805476 Centerline is valid? [True, True] Translation: X:113.41, Y:8.07, Z:-0.72 [[ 9.98375347e-01 -5.69116869e-02 2.77969241e-03 1.13412891e+02] [ 5.69116307e-02 9.98379215e-01 9.93747717e-05 8.07333333e+00] [-2.78084271e-03 5.89835058e-05 9.99996132e-01 -7.16209354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44439141799998 meters 0.054886678310219005 Centerline is valid? [True, True] Translation: X:113.47, Y:8.08, Z:-0.72 [[ 9.98850276e-01 -4.79301137e-02 9.11372369e-04 1.13473120e+02] [ 4.79301039e-02 9.98850692e-01 3.25758529e-05 8.08353074e+00] [-9.11886286e-04 1.11437726e-05 9.99999584e-01 -7.16357216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50439141799998 meters 0.05479414427862964 Centerline is valid? [True, True] Translation: X:113.53, Y:8.09, Z:-0.72 [[ 9.99015272e-01 -4.43647441e-02 5.05205489e-04 1.13534705e+02] [ 4.43647406e-02 9.99015400e-01 1.82388205e-05 8.08521010e+00] [-5.05517225e-04 4.19245023e-06 9.99999872e-01 -7.18490516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56439141799999 meters 0.05538164152280055 Centerline is valid? [True, True] Translation: X:113.60, Y:8.09, Z:-0.72 [[ 9.99368531e-01 -3.55308118e-02 3.18047515e-04 1.13596831e+02] [ 3.55308099e-02 9.99368581e-01 1.15945347e-05 8.09421217e+00] [-3.18258658e-04 -2.86727282e-07 9.99999949e-01 -7.17974779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799997 meters 0.05480607184948963 Centerline is valid? [True, True] Translation: X:113.66, Y:8.10, Z:-0.72 [[ 9.99531162e-01 -3.06124613e-02 5.76798122e-04 1.13658046e+02] [ 3.06124545e-02 9.99531329e-01 2.07092364e-05 8.10028319e+00] [-5.77161754e-04 -3.04232092e-06 9.99999833e-01 -7.19469445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799998 meters 0.05561853736719051 Centerline is valid? [True, True] Translation: X:113.72, Y:8.10, Z:-0.72 [[ 9.99650393e-01 -2.63900991e-02 1.62947129e-03 1.13720165e+02] [ 2.63900393e-02 9.99651721e-01 5.82160034e-05 8.10102915e+00] [-1.63044010e-03 -1.51938393e-05 9.99998671e-01 -7.17032417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799998 meters 0.05600040323925239 Centerline is valid? [True, True] Translation: X:113.78, Y:8.10, Z:-0.72 [[ 9.99675767e-01 -2.53750104e-02 2.11395918e-03 1.13782180e+02] [ 2.53749077e-02 9.99678002e-01 7.53984225e-05 8.09772075e+00] [-2.11519173e-03 -2.17324567e-05 9.99997763e-01 -7.16202121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80439141799998 meters 0.05628865471300284 Centerline is valid? [True, True] Translation: X:113.84, Y:8.10, Z:-0.72 [[ 9.99644779e-01 -2.66382875e-02 8.46450141e-04 1.13843017e+02] [ 2.66382711e-02 9.99645138e-01 3.06164451e-05 8.10001465e+00] [-8.46965338e-04 -8.05760111e-06 9.99999641e-01 -7.18041327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86439141799998 meters 0.05488881402467168 Centerline is valid? [True, True] Translation: X:113.91, Y:8.10, Z:-0.72 [[ 9.99459893e-01 -3.28507334e-02 8.67133616e-04 1.13905080e+02] [ 3.28507189e-02 9.99460269e-01 3.09877359e-05 8.09639205e+00] [-8.67683567e-04 -2.48503652e-06 9.99999624e-01 -7.19282023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92439141799998 meters 0.05544595262427614 Centerline is valid? [True, True] Translation: X:113.97, Y:8.09, Z:-0.72 [[ 9.99289974e-01 -3.76762445e-02 2.18707760e-04 1.13966957e+02] [ 3.76762435e-02 9.99289998e-01 8.48549061e-06 8.09093684e+00] [-2.18872179e-04 -2.39378855e-07 9.99999976e-01 -7.21447681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799997 meters 0.05559500697433748 Centerline is valid? [True, True] Translation: X:114.03, Y:8.08, Z:-0.72 [[ 9.99059517e-01 -4.33345494e-02 1.48269251e-03 1.14029811e+02] [ 4.33345186e-02 9.99060617e-01 5.28989500e-05 8.08437985e+00] [-1.48359204e-03 1.14025667e-05 9.99998899e-01 -7.21108531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799998 meters 0.055576410004599654 Centerline is valid? [True, True] Translation: X:114.09, Y:8.08, Z:-0.72 [[ 9.99117214e-01 -4.19708804e-02 1.79946938e-03 1.14091275e+02] [ 4.19708342e-02 9.99118834e-01 6.34445575e-05 8.08144918e+00] [-1.80054658e-03 1.21366817e-05 9.99998379e-01 -7.22010426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799998 meters 0.05560423793709746 Centerline is valid? [True, True] Translation: X:114.15, Y:8.08, Z:-0.72 [[ 9.99276501e-01 -3.80010043e-02 1.54847472e-03 1.14153258e+02] [ 3.80009653e-02 9.99277701e-01 5.46148183e-05 8.08281214e+00] [-1.54943168e-03 4.26822952e-06 9.99998800e-01 -7.22154432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16439141799998 meters 0.05559501778628536 Centerline is valid? [True, True] Translation: X:114.22, Y:8.08, Z:-0.72 [[ 9.99490277e-01 -3.19026058e-02 1.18721662e-03 1.14215085e+02] [ 3.19025786e-02 9.99490982e-01 4.18820627e-05 8.08250347e+00] [-1.18794845e-03 -3.98544308e-06 9.99999294e-01 -7.22627337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22439141799998 meters 0.055172071914673895 Centerline is valid? [True, True] Translation: X:114.28, Y:8.08, Z:-0.72 [[ 9.99554284e-01 -2.98444565e-02 7.36357411e-04 1.14276528e+02] [ 2.98444455e-02 9.99554555e-01 2.59846137e-05 8.08189667e+00] [-7.36804901e-04 -3.99685332e-06 9.99999729e-01 -7.23983466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28439141799998 meters 0.05571304648245553 Centerline is valid? [True, True] Translation: X:114.34, Y:8.08, Z:-0.72 [[ 9.99523839e-01 -3.08553680e-02 -2.03379920e-04 1.14339451e+02] [ 3.08553672e-02 9.99523860e-01 -6.81601414e-06 8.07609106e+00] [ 2.03493393e-04 5.37406510e-07 9.99999979e-01 -7.24806187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters 0.05532497818829125 Centerline is valid? [True, True] Translation: X:114.40, Y:8.07, Z:-0.73 [[ 9.99359889e-01 -3.57642090e-02 -8.56641150e-04 1.14401181e+02] [ 3.57641971e-02 9.99360256e-01 -2.92806762e-05 8.06989712e+00] [ 8.57140319e-04 -1.37514955e-06 9.99999633e-01 -7.26638458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799997 meters 0.05628143238014823 Centerline is valid? [True, True] Translation: X:114.46, Y:8.07, Z:-0.73 [[ 9.99178307e-01 -4.05199378e-02 -9.19501658e-04 1.14463699e+02] [ 4.05199257e-02 9.99178730e-01 -3.18167383e-05 8.06628473e+00] [ 9.20035711e-04 -5.46754410e-06 9.99999577e-01 -7.26419683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799998 meters 0.05538003342875624 Centerline is valid? [True, True] Translation: X:114.53, Y:8.06, Z:-0.72 [[ 9.98755267e-01 -4.98787461e-02 -1.64251091e-04 1.14525173e+02] [ 4.98787458e-02 9.98755281e-01 -5.67554267e-06 8.05957153e+00] [ 1.64329734e-04 -2.52416028e-06 9.99999986e-01 -7.24970379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52439141799998 meters 0.05636945451985841 Centerline is valid? [True, True] Translation: X:114.59, Y:8.05, Z:-0.72 [[ 9.98192598e-01 -6.00648949e-02 1.93543069e-03 1.14585168e+02] [ 6.00648765e-02 9.98194473e-01 6.76439791e-05 8.05025109e+00] [-1.93599925e-03 4.87296862e-05 9.99998125e-01 -7.24421996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58439141799998 meters 0.05608506610767938 Centerline is valid? [True, True] Translation: X:114.65, Y:8.05, Z:-0.72 [[ 9.97847385e-01 -6.55123145e-02 2.95518170e-03 1.14645407e+02] [ 6.55122967e-02 9.97851757e-01 1.02920884e-04 8.04718308e+00] [-2.95557584e-03 9.09014055e-05 9.99995628e-01 -7.24412327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64439141799998 meters 0.05603129623743296 Centerline is valid? [True, True] Translation: X:114.71, Y:8.05, Z:-0.73 [[ 9.97478589e-01 -7.09193258e-02 2.62939774e-03 1.14706867e+02] [ 7.09193303e-02 9.97482050e-01 9.16616496e-05 8.04534475e+00] [-2.62927763e-03 9.50445937e-05 9.99996539e-01 -7.26012362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters 0.05606018132603617 Centerline is valid? [True, True] Translation: X:114.77, Y:8.04, Z:-0.73 [[ 9.97339214e-01 -7.28688414e-02 2.15040612e-03 1.14767706e+02] [ 7.28688490e-02 9.97341529e-01 7.49220681e-05 8.04416773e+00] [-2.15014881e-03 8.19749021e-05 9.99997685e-01 -7.25735019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799997 meters 0.05661863437938911 Centerline is valid? [True, True] Translation: X:114.83, Y:8.05, Z:-0.73 [[ 9.97364104e-01 -7.25329540e-02 1.95327246e-03 1.14829846e+02] [ 7.25329594e-02 9.97366014e-01 6.81432912e-05 8.04647758e+00] [-1.95307020e-03 7.37129597e-05 9.99998090e-01 -7.25074462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799998 meters 0.05685237897275213 Centerline is valid? [True, True] Translation: X:114.89, Y:8.05, Z:-0.73 [[ 9.97438789e-01 -7.15172581e-02 1.06951181e-03 1.14891057e+02] [ 7.15172589e-02 9.97439362e-01 3.75273867e-05 8.04524551e+00] [-1.06945703e-03 3.90572819e-05 9.99999427e-01 -7.26610034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799998 meters 0.057758454286183064 Centerline is valid? [True, True] Translation: X:114.95, Y:8.05, Z:-0.73 [[ 9.97524419e-01 -7.03207429e-02 -1.65102882e-04 1.14953611e+02] [ 7.03207430e-02 9.97524432e-01 -5.48600174e-06 8.04623465e+00] [ 1.65079939e-04 -6.13773666e-06 9.99999986e-01 -7.28572987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94439141799998 meters 0.0569026274776765 Centerline is valid? [True, True] Translation: X:115.02, Y:8.05, Z:-0.73 [[ 9.97661927e-01 -6.83370870e-02 -8.49517746e-04 1.15015051e+02] [ 6.83370868e-02 9.97662288e-01 -2.92932452e-05 8.05298249e+00] [ 8.49533634e-04 -2.88288125e-05 9.99999639e-01 -7.29128835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00439141799998 meters 0.05745270580357896 Centerline is valid? [True, True] Translation: X:115.08, Y:8.06, Z:-0.73 [[ 9.97849205e-01 -6.55481456e-02 -6.36472648e-04 1.15076043e+02] [ 6.55481449e-02 9.97849408e-01 -2.20018190e-05 8.06026140e+00] [ 6.36546033e-04 -1.97651037e-05 9.99999797e-01 -7.28139774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06439141799999 meters 0.056535017411867776 Centerline is valid? [True, True] Translation: X:115.14, Y:8.06, Z:-0.73 [[ 9.98154858e-01 -6.07154143e-02 7.19263301e-04 1.15135906e+02] [ 6.07154121e-02 9.98155117e-01 2.49199252e-05 8.06389096e+00] [-7.19449368e-04 1.87964234e-05 9.99999741e-01 -7.26996936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799997 meters 0.05607887254161498 Centerline is valid? [True, True] Translation: X:115.20, Y:8.07, Z:-0.73 [[ 9.98286317e-01 -5.84891009e-02 1.85865464e-03 1.15195932e+02] [ 5.84890822e-02 9.98288046e-01 6.44305214e-05 8.06585996e+00] [-1.85924119e-03 4.43908960e-05 9.99998271e-01 -7.26246155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799998 meters 0.05743868301069864 Centerline is valid? [True, True] Translation: X:115.26, Y:8.07, Z:-0.73 [[ 9.98340477e-01 -5.75551722e-02 1.92190795e-03 1.15257119e+02] [ 5.75551498e-02 9.98342326e-01 6.69954187e-05 8.06658570e+00] [-1.92257799e-03 4.37314618e-05 9.99998151e-01 -7.27082871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799998 meters 0.05677175878217894 Centerline is valid? [True, True] Translation: X:115.32, Y:8.07, Z:-0.73 [[ 9.98396924e-01 -5.65780688e-02 1.58266325e-03 1.15318752e+02] [ 5.65780530e-02 9.98398178e-01 5.47896664e-05 8.06692411e+00] [-1.58322800e-03 3.48421711e-05 9.99998746e-01 -7.28909181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30439141799998 meters 0.05617071525266578 Centerline is valid? [True, True] Translation: X:115.38, Y:8.07, Z:-0.73 [[ 9.98593934e-01 -5.29978010e-02 1.17800093e-03 1.15380613e+02] [ 5.29977897e-02 9.98594629e-01 4.07977909e-05 8.07332939e+00] [-1.17850759e-03 2.16910188e-05 9.99999305e-01 -7.29749480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36439141799998 meters 0.057158804141994785 Centerline is valid? [True, True] Translation: X:115.44, Y:8.08, Z:-0.73 [[ 9.98820971e-01 -4.85100983e-02 1.85419972e-03 1.15439834e+02] [ 4.85100632e-02 9.98822692e-01 6.38887006e-05 8.07606851e+00] [-1.85511600e-03 2.61339716e-05 9.99998279e-01 -7.28974789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42439141799998 meters 0.05671693409257908 Centerline is valid? [True, True] Translation: X:115.50, Y:8.08, Z:-0.73 [[ 9.98873520e-01 -4.73774667e-02 2.65850446e-03 1.15501545e+02] [ 4.73773903e-02 9.98877057e-01 9.17733280e-05 8.08166604e+00] [-2.65986710e-03 3.42830562e-05 9.99996462e-01 -7.27937423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799997 meters 0.05577464452260728 Centerline is valid? [True, True] Translation: X:115.56, Y:8.08, Z:-0.73 [[ 9.98938701e-01 -4.60361737e-02 1.46357150e-03 1.15563753e+02] [ 4.60361490e-02 9.98939773e-01 5.05957033e-05 8.07989126e+00] [-1.46434902e-03 1.68351897e-05 9.99998928e-01 -7.31021216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799998 meters 0.056882826870175755 Centerline is valid? [True, True] Translation: X:115.63, Y:8.08, Z:-0.73 [[ 9.98900778e-01 -4.68687059e-02 7.48277893e-04 1.15625685e+02] [ 4.68686996e-02 9.98901058e-01 2.59172850e-05 8.08453404e+00] [-7.48670288e-04 9.18201566e-06 9.99999720e-01 -7.30897934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799998 meters 0.05763741469583187 Centerline is valid? [True, True] Translation: X:115.69, Y:8.08, Z:-0.73 [[ 9.98665574e-01 -5.16395029e-02 -6.58479051e-04 1.15686736e+02] [ 5.16394993e-02 9.98665791e-01 -2.25305799e-05 8.08132332e+00] [ 6.58763970e-04 -1.15030140e-05 9.99999783e-01 -7.33451090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66439141799998 meters 0.0575006609589204 Centerline is valid? [True, True] Translation: X:115.75, Y:8.08, Z:-0.73 [[ 9.98215032e-01 -5.97028102e-02 -1.52433440e-03 1.15747468e+02] [ 5.97027998e-02 9.98216196e-01 -5.23443276e-05 8.07512622e+00] [ 1.52474039e-03 -3.87561368e-05 9.99998837e-01 -7.34434289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72439141799998 meters 0.05712727842121997 Centerline is valid? [True, True] Translation: X:115.81, Y:8.08, Z:-0.73 [[ 9.97859216e-01 -6.53637558e-02 -2.13655686e-03 1.15808770e+02] [ 6.53637485e-02 9.97861501e-01 -7.32918998e-05 8.08079705e+00] [ 2.13677847e-03 -6.65183678e-05 9.99997715e-01 -7.32918867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78439141799998 meters 0.056966743272409165 Centerline is valid? [True, True] Translation: X:115.87, Y:8.09, Z:-0.73 [[ 9.97396601e-01 -7.20975460e-02 -1.40118098e-03 1.15869736e+02] [ 7.20975496e-02 9.97397584e-01 -4.80538326e-05 8.08502102e+00] [ 1.40099908e-03 -5.30929855e-05 9.99999017e-01 -7.31879820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799997 meters 0.05837801455860071 Centerline is valid? [True, True] Translation: X:115.93, Y:8.08, Z:-0.73 [[ 9.97051167e-01 -7.67379318e-02 -5.09969117e-04 1.15929655e+02] [ 7.67379330e-02 9.97051297e-01 -1.72801637e-05 8.07680678e+00] [ 5.09791413e-04 -2.19047685e-05 9.99999870e-01 -7.34102329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799997 meters 0.056388229302942294 Centerline is valid? [True, True] Translation: X:115.99, Y:8.09, Z:-0.73 [[ 9.97020442e-01 -7.71375679e-02 1.85562277e-04 1.15991712e+02] [ 7.71375680e-02 9.97020459e-01 6.55583449e-06 8.09062384e+00] [-1.85515088e-04 7.77752180e-06 9.99999983e-01 -7.33012891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799998 meters 0.06018166770979591 Centerline is valid? [True, True] Translation: X:116.05, Y:8.08, Z:-0.74 [[ 9.97040342e-01 -7.68798648e-02 -2.06121677e-04 1.16054084e+02] [ 7.68798651e-02 9.97040363e-01 -6.31326163e-06 8.07805020e+00] [ 2.05996995e-04 -9.55203023e-06 9.99999979e-01 -7.35172241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02439141799998 meters 0.059419339827592 Centerline is valid? [True, True] Translation: X:116.11, Y:8.09, Z:-0.73 [[ 9.97201212e-01 -7.47634999e-02 4.01832488e-04 1.16114695e+02] [ 7.47635004e-02 9.97201293e-01 1.37635528e-05 8.08924947e+00] [-4.01736888e-04 1.63173719e-05 9.99999919e-01 -7.34198690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08439141799998 meters 0.05628324694237351 Centerline is valid? [True, True] Translation: X:116.18, Y:8.11, Z:-0.73 [[ 9.97335743e-01 -7.29352545e-02 1.36558713e-03 1.16175100e+02] [ 7.29352588e-02 9.97336676e-01 4.66959156e-05 8.10540032e+00] [-1.36535591e-03 5.30279453e-05 9.99999066e-01 -7.32934003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14439141799998 meters 0.05672334943454235 Centerline is valid? [True, True] Translation: X:116.24, Y:8.11, Z:-0.73 [[ 9.97588317e-01 -6.94023015e-02 -9.33332635e-04 1.16235606e+02] [ 6.94023020e-02 9.97588753e-01 -3.18248354e-05 8.11398339e+00] [ 9.33290856e-04 -3.30273495e-05 9.99999564e-01 -7.33517927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters 0.057057967962004054 Centerline is valid? [True, True] Translation: X:116.30, Y:8.12, Z:-0.74 [[ 9.97860824e-01 -6.53121089e-02 -2.84670596e-03 1.16295220e+02] [ 6.53120972e-02 9.97864881e-01 -9.71828798e-05 8.11758905e+00] [ 2.84697512e-03 -8.89493477e-05 9.99995943e-01 -7.36920130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799997 meters 0.05762620937316341 Centerline is valid? [True, True] Translation: X:116.35, Y:8.12, Z:-0.74 [[ 9.98080344e-01 -6.18910043e-02 -2.26496773e-03 1.16354773e+02] [ 6.18909881e-02 9.98082912e-01 -7.72952812e-05 8.12001785e+00] [ 2.26540947e-03 -6.30341899e-05 9.99997432e-01 -7.38119126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799998 meters 0.05703119130767918 Centerline is valid? [True, True] Translation: X:116.42, Y:8.13, Z:-0.74 [[ 9.98298296e-01 -5.83127504e-02 -3.67289441e-04 1.16415195e+02] [ 5.83127498e-02 9.98298364e-01 -1.25112613e-05 8.13085227e+00] [ 3.67394014e-04 -8.92768642e-06 9.99999932e-01 -7.35005619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799998 meters 0.056212587718801284 Centerline is valid? [True, True] Translation: X:116.48, Y:8.14, Z:-0.73 [[ 9.98407991e-01 -5.64015743e-02 5.87438965e-04 1.16476209e+02] [ 5.64015722e-02 9.98408164e-01 2.01318242e-05 8.14068928e+00] [-5.87639325e-04 1.30327071e-05 9.99999827e-01 -7.33455841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44439141799998 meters 0.05590553461287798 Centerline is valid? [True, True] Translation: X:116.54, Y:8.14, Z:-0.73 [[ 9.98480207e-01 -5.51064442e-02 7.45431268e-04 1.16537431e+02] [ 5.51064403e-02 9.98480485e-01 2.57608340e-05 8.14010481e+00] [-7.45718163e-04 1.53563808e-05 9.99999722e-01 -7.34756839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50439141799998 meters 0.05658786291448281 Centerline is valid? [True, True] Translation: X:116.60, Y:8.14, Z:-0.74 [[ 9.98463258e-01 -5.54143614e-02 6.09795599e-04 1.16599957e+02] [ 5.54143589e-02 9.98463444e-01 2.09246987e-05 8.14428959e+00] [-6.10018143e-04 1.28988894e-05 9.99999814e-01 -7.35083337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56439141799999 meters 0.05572177843524442 Centerline is valid? [True, True] Translation: X:116.66, Y:8.15, Z:-0.73 [[ 9.98373263e-01 -5.70153196e-02 -2.83884756e-04 1.16661582e+02] [ 5.70153193e-02 9.98373304e-01 -9.44681747e-06 8.15345923e+00] [ 2.83961575e-04 -6.75433003e-06 9.99999960e-01 -7.33898619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799997 meters 0.05601785447496887 Centerline is valid? [True, True] Translation: X:116.72, Y:8.15, Z:-0.73 [[ 9.98484859e-01 -5.50145454e-02 -1.17707366e-03 1.16722465e+02] [ 5.50145367e-02 9.98485553e-01 -3.97609844e-05 8.15393304e+00] [ 1.17747848e-03 -2.50554212e-05 9.99999306e-01 -7.34848431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799998 meters 0.05607970756719022 Centerline is valid? [True, True] Translation: X:116.78, Y:8.16, Z:-0.73 [[ 9.98658691e-01 -5.17624315e-02 -1.21196020e-03 1.16783885e+02] [ 5.17624199e-02 9.98659427e-01 -4.09649413e-05 8.15936506e+00] [ 1.21245592e-03 -2.18239980e-05 9.99999265e-01 -7.34640563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799998 meters 0.05657296741399751 Centerline is valid? [True, True] Translation: X:116.84, Y:8.16, Z:-0.74 [[ 9.98940096e-01 -4.60177909e-02 -1.02315188e-03 1.16843130e+02] [ 4.60177794e-02 9.98940620e-01 -3.47636439e-05 8.16377595e+00] [ 1.02366772e-03 -1.23563797e-05 9.99999476e-01 -7.36473669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80439141799998 meters 0.05610200731942992 Centerline is valid? [True, True] Translation: X:116.91, Y:8.17, Z:-0.74 [[ 9.99035218e-01 -4.39093451e-02 -7.75988667e-04 1.16905096e+02] [ 4.39093380e-02 9.99035520e-01 -2.61127332e-05 8.16665866e+00] [ 7.76386834e-04 -7.98560858e-06 9.99999699e-01 -7.37257584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86439141799998 meters 0.0553763307717011 Centerline is valid? [True, True] Translation: X:116.97, Y:8.17, Z:-0.74 [[ 9.98979740e-01 -4.51467466e-02 -1.11818380e-03 1.16966931e+02] [ 4.51467327e-02 9.98980366e-01 -3.76769906e-05 8.16780611e+00] [ 1.11874465e-03 -1.28437949e-05 9.99999374e-01 -7.37400110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92439141799998 meters 0.055577509816203303 Centerline is valid? [True, True] Translation: X:117.03, Y:8.17, Z:-0.74 [[ 9.98753636e-01 -4.98945995e-02 -1.30534720e-03 1.17027880e+02] [ 4.98945844e-02 9.98754489e-01 -4.41477391e-05 8.16832556e+00] [ 1.30592411e-03 -2.10370411e-05 9.99999147e-01 -7.36027175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799997 meters 0.05564851923510567 Centerline is valid? [True, True] Translation: X:117.09, Y:8.17, Z:-0.74 [[ 9.98507071e-01 -5.46136451e-02 -9.89459975e-04 1.17089078e+02] [ 5.46136387e-02 9.98507561e-01 -3.34428951e-05 8.16948642e+00] [ 9.89809704e-04 -2.06450424e-05 9.99999510e-01 -7.35436338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799998 meters 0.05617451180081494 Centerline is valid? [True, True] Translation: X:117.15, Y:8.17, Z:-0.74 [[ 9.98093856e-01 -6.16973421e-02 -1.44629225e-03 1.17150187e+02] [ 6.16973361e-02 9.98094903e-01 -4.88448454e-05 8.16796846e+00] [ 1.44655052e-03 -4.04806389e-05 9.99998953e-01 -7.36651340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799998 meters 0.05662192289518912 Centerline is valid? [True, True] Translation: X:117.21, Y:8.16, Z:-0.74 [[ 9.97855443e-01 -6.54427835e-02 -1.32520845e-03 1.17210118e+02] [ 6.54427816e-02 9.97856322e-01 -4.48782622e-05 8.16309006e+00] [ 1.32530459e-03 -4.19433088e-05 9.99999121e-01 -7.38473288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16439141799998 meters 0.05778706594202043 Centerline is valid? [True, True] Translation: X:117.27, Y:8.16, Z:-0.74 [[ 9.97613735e-01 -6.90415409e-02 -3.18097663e-04 1.17269660e+02] [ 6.90415409e-02 9.97613786e-01 -1.08036285e-05 8.16151203e+00] [ 3.18084513e-04 -1.11841046e-05 9.99999949e-01 -7.38223893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22439141799998 meters 0.056948561662237884 Centerline is valid? [True, True] Translation: X:117.33, Y:8.17, Z:-0.74 [[ 9.97670307e-01 -6.82180070e-02 5.11113594e-04 1.17331569e+02] [ 6.82180070e-02 9.97670438e-01 1.74659781e-05 8.16731985e+00] [-5.11114418e-04 1.74418630e-05 9.99999869e-01 -7.38019683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28439141799998 meters 0.0563264665765884 Centerline is valid? [True, True] Translation: X:117.39, Y:8.18, Z:-0.74 [[ 9.97865662e-01 -6.52888729e-02 1.21814248e-03 1.17392230e+02] [ 6.52888712e-02 9.97866405e-01 4.12327468e-05 8.17528777e+00] [-1.21823550e-03 3.83864053e-05 9.99999257e-01 -7.36965439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799997 meters 0.05657623154875268 Centerline is valid? [True, True] Translation: X:117.45, Y:8.18, Z:-0.74 [[ 9.98163229e-01 -6.05473856e-02 2.04526045e-03 1.17451362e+02] [ 6.05473710e-02 9.98165323e-01 6.91142020e-05 8.18036167e+00] [-2.04569274e-03 5.48478881e-05 9.99997906e-01 -7.36885047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799997 meters 0.05655657587803213 Centerline is valid? [True, True] Translation: X:117.51, Y:8.19, Z:-0.74 [[ 9.98660862e-01 -5.16815006e-02 2.34635426e-03 1.17510829e+02] [ 5.16814568e-02 9.98663617e-01 7.93405338e-05 8.18793584e+00] [-2.34731907e-03 4.20287204e-05 9.99997244e-01 -7.38383991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799998 meters 0.056532373637088885 Centerline is valid? [True, True] Translation: X:117.57, Y:8.20, Z:-0.74 [[ 9.98921087e-01 -4.64123702e-02 1.59836343e-03 1.17571747e+02] [ 4.64123431e-02 9.98922365e-01 5.40693122e-05 8.19635159e+00] [-1.59915046e-03 2.01728156e-05 9.99998721e-01 -7.40338738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52439141799998 meters 0.0562645040939254 Centerline is valid? [True, True] Translation: X:117.63, Y:8.21, Z:-0.74 [[ 9.99135661e-01 -4.15615490e-02 7.53759213e-04 1.17633031e+02] [ 4.15615416e-02 9.99135946e-01 2.55691744e-05 8.20618033e+00] [-7.54170619e-04 5.78032090e-06 9.99999716e-01 -7.41095041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58439141799998 meters 0.05568583248997079 Centerline is valid? [True, True] Translation: X:117.69, Y:8.21, Z:-0.74 [[ 9.99155355e-01 -4.10886273e-02 5.49172637e-04 1.17694881e+02] [ 4.10886232e-02 9.99155506e-01 1.87411873e-05 8.21235048e+00] [-5.49478914e-04 3.83938990e-06 9.99999849e-01 -7.40036341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64439141799998 meters 0.056751455785549625 Centerline is valid? [True, True] Translation: X:117.76, Y:8.21, Z:-0.74 [[ 9.99126301e-01 -4.17775334e-02 1.12824185e-03 1.17757193e+02] [ 4.17775164e-02 9.99126938e-01 3.86971356e-05 8.21413049e+00] [-1.12887350e-03 8.47181640e-06 9.99999363e-01 -7.40886718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters 0.054360975127954646 Centerline is valid? [True, True] Translation: X:117.82, Y:8.22, Z:-0.74 [[ 9.99087502e-01 -4.26643719e-02 1.97856457e-03 1.17819631e+02] [ 4.26643235e-02 9.99089461e-01 6.66880760e-05 8.21789612e+00] [-1.97960821e-03 1.77868956e-05 9.99998040e-01 -7.40161233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799997 meters 0.056484354931996314 Centerline is valid? [True, True] Translation: X:117.88, Y:8.22, Z:-0.74 [[ 9.99009099e-01 -4.44074920e-02 2.96553183e-03 1.17881198e+02] [ 4.44073909e-02 9.99013500e-01 9.99816555e-05 8.21843529e+00] [-2.96704627e-03 3.18089477e-05 9.99995598e-01 -7.40697198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799998 meters 0.055557528127527685 Centerline is valid? [True, True] Translation: X:117.94, Y:8.22, Z:-0.74 [[ 9.98866359e-01 -4.74622175e-02 3.65177907e-03 1.17943587e+02] [ 4.74620871e-02 9.98873033e-01 1.22415467e-04 8.21620819e+00] [-3.65347374e-03 5.10443649e-05 9.99993325e-01 -7.41192189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799998 meters 0.055905726318599414 Centerline is valid? [True, True] Translation: X:118.00, Y:8.21, Z:-0.74 [[ 9.98599093e-01 -5.27335209e-02 4.36197880e-03 1.18004292e+02] [ 5.27333860e-02 9.98608616e-01 1.46015793e-04 8.21496373e+00] [-4.36360954e-03 8.42106732e-05 9.99990476e-01 -7.40105840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94439141799998 meters 0.05549192415541092 Centerline is valid? [True, True] Translation: X:118.07, Y:8.21, Z:-0.74 [[ 9.98462663e-01 -5.52983261e-02 3.79552007e-03 1.18065925e+02] [ 5.52982425e-02 9.98469873e-01 1.27047344e-04 8.21397096e+00] [-3.79673795e-03 8.30335606e-05 9.99992789e-01 -7.40816823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00439141799998 meters 0.0564782251204684 Centerline is valid? [True, True] Translation: X:118.13, Y:8.21, Z:-0.74 [[ 9.98442788e-01 -5.57022933e-02 3.04199448e-03 1.18127915e+02] [ 5.57022413e-02 9.98447420e-01 1.01868937e-04 8.21430215e+00] [-3.04294588e-03 6.77356050e-05 9.99995368e-01 -7.42301471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06439141799999 meters 0.05659565233301494 Centerline is valid? [True, True] Translation: X:118.19, Y:8.21, Z:-0.74 [[ 9.98567639e-01 -5.34398315e-02 2.61804477e-03 1.18187976e+02] [ 5.34397857e-02 9.98571070e-01 8.74905232e-05 8.21488080e+00] [-2.61897925e-03 5.25425464e-05 9.99996569e-01 -7.43553829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799997 meters 0.05593085950721361 Centerline is valid? [True, True] Translation: X:118.25, Y:8.22, Z:-0.74 [[ 9.98877041e-01 -4.72936956e-02 2.82198337e-03 1.18248499e+02] [ 4.72936178e-02 9.98881026e-01 9.43050166e-05 8.21919276e+00] [-2.82328568e-03 3.92626871e-05 9.99996014e-01 -7.43898185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799998 meters 0.05626249043199622 Centerline is valid? [True, True] Translation: X:118.31, Y:8.22, Z:-0.74 [[ 9.99192822e-01 -4.00183350e-02 3.49825876e-03 1.18310146e+02] [ 4.00181711e-02 9.99198945e-01 1.16867696e-04 8.22409011e+00] [-3.50013331e-03 2.32205549e-05 9.99993874e-01 -7.43164310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799998 meters 0.05605615090993469 Centerline is valid? [True, True] Translation: X:118.37, Y:8.23, Z:-0.74 [[ 9.99348853e-01 -3.58681998e-02 3.91679965e-03 1.18372004e+02] [ 3.58679630e-02 9.99356529e-01 1.30698285e-04 8.22666164e+00] [-3.91896721e-03 9.87444380e-06 9.99992321e-01 -7.42726006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30439141799998 meters 0.05600350367356651 Centerline is valid? [True, True] Translation: X:118.43, Y:8.23, Z:-0.74 [[ 9.99361314e-01 -3.55465208e-02 3.66188328e-03 1.18434005e+02] [ 3.55463114e-02 9.99368023e-01 1.22271986e-04 8.22632373e+00] [-3.66391539e-03 7.97255098e-06 9.99993288e-01 -7.43277635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36439141799998 meters 0.056533865752854566 Centerline is valid? [True, True] Translation: X:118.50, Y:8.22, Z:-0.74 [[ 9.99220590e-01 -3.92157026e-02 4.51002612e-03 1.18496291e+02] [ 3.92154254e-02 9.99230768e-01 1.49918260e-04 8.22263497e+00] [-4.51243601e-03 2.70611803e-05 9.99989819e-01 -7.43238975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42439141799998 meters 0.05729326637320708 Centerline is valid? [True, True] Translation: X:118.56, Y:8.22, Z:-0.74 [[ 9.99080947e-01 -4.26734924e-02 4.02921712e-03 1.18557674e+02] [ 4.26733009e-02 9.99089071e-01 1.33519686e-04 8.21781910e+00] [-4.03124454e-03 3.85430201e-05 9.99991874e-01 -7.43839410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799997 meters 0.056380497517042494 Centerline is valid? [True, True] Translation: X:118.62, Y:8.21, Z:-0.74 [[ 9.98792160e-01 -4.89417300e-02 4.35076600e-03 1.18618624e+02] [ 4.89415691e-02 9.98801633e-01 1.43502540e-04 8.21223100e+00] [-4.35257545e-03 6.96041025e-05 9.99990525e-01 -7.43591455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799998 meters 0.05693714155782415 Centerline is valid? [True, True] Translation: X:118.68, Y:8.20, Z:-0.75 [[ 9.98552694e-01 -5.36142724e-02 4.24590636e-03 1.18678731e+02] [ 5.36141618e-02 9.98561717e-01 1.39948997e-04 8.20353287e+00] [-4.24730281e-03 8.78942626e-05 9.99990976e-01 -7.45180861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799998 meters 0.05700609975137717 Centerline is valid? [True, True] Translation: X:118.74, Y:8.20, Z:-0.75 [[ 9.98477262e-01 -5.50364333e-02 3.76140389e-03 1.18740442e+02] [ 5.50363563e-02 9.98484343e-01 1.24052341e-04 8.20348949e+00] [-3.76253029e-03 8.31505232e-05 9.99992918e-01 -7.46607135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66439141799998 meters 0.05728158220657461 Centerline is valid? [True, True] Translation: X:118.80, Y:8.20, Z:-0.75 [[ 9.98630869e-01 -5.21921197e-02 3.51712173e-03 1.18801839e+02] [ 5.21920353e-02 9.98637060e-01 1.15854201e-04 8.20437779e+00] [-3.51837478e-03 6.78701596e-05 9.99993808e-01 -7.47075294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72439141799998 meters 0.05730771946577944 Centerline is valid? [True, True] Translation: X:118.86, Y:8.20, Z:-0.75 [[ 9.98820669e-01 -4.83972968e-02 3.86941404e-03 1.18861948e+02] [ 4.83971664e-02 9.98828162e-01 1.27368249e-04 8.20452408e+00] [-3.87104400e-03 6.00506360e-05 9.99992506e-01 -7.47197111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78439141799998 meters 0.05643316683109076 Centerline is valid? [True, True] Translation: X:118.92, Y:8.21, Z:-0.75 [[ 9.98985769e-01 -4.47948780e-02 4.56634484e-03 1.18923851e+02] [ 4.47946589e-02 9.98996204e-01 1.50295197e-04 8.20723514e+00] [-4.56849362e-03 5.44050963e-05 9.99989563e-01 -7.47257066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799997 meters 0.056539731428531394 Centerline is valid? [True, True] Translation: X:118.99, Y:8.21, Z:-0.75 [[ 9.99109467e-01 -4.19709520e-02 4.32584377e-03 1.18986329e+02] [ 4.19707292e-02 9.99118831e-01 1.42310056e-04 8.20966114e+00] [-4.32800486e-03 3.93754931e-05 9.99990633e-01 -7.47961253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799997 meters 0.056288798866862964 Centerline is valid? [True, True] Translation: X:119.05, Y:8.21, Z:-0.75 [[ 9.99028907e-01 -4.39427121e-02 3.20625971e-03 1.19048230e+02] [ 4.39426002e-02 9.99034052e-01 1.05384129e-04 8.20894534e+00] [-3.20779349e-03 3.56095975e-05 9.99994854e-01 -7.48839837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799998 meters 0.057385072506416036 Centerline is valid? [True, True] Translation: X:119.11, Y:8.21, Z:-0.75 [[ 9.98885235e-01 -4.70996005e-02 3.14892860e-03 1.19109238e+02] [ 4.70995088e-02 9.98890197e-01 1.03303533e-04 8.20553030e+00] [-3.15029947e-03 4.51246170e-05 9.99995037e-01 -7.49800227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02439141799998 meters 0.057035369612440316 Centerline is valid? [True, True] Translation: X:119.17, Y:8.20, Z:-0.75 [[ 9.98700148e-01 -5.08504971e-02 3.49882153e-03 1.19170845e+02] [ 5.08504082e-02 9.98706275e-01 1.14433986e-04 8.20279805e+00] [-3.50011404e-03 6.36312637e-05 9.99993873e-01 -7.50087951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08439141799998 meters 0.057625851954696876 Centerline is valid? [True, True] Translation: X:119.23, Y:8.20, Z:-0.75 [[ 9.98393282e-01 -5.64828103e-02 4.53292697e-03 1.19230773e+02] [ 5.64827197e-02 9.98403566e-01 1.48119298e-04 8.19886281e+00] [-4.53405665e-03 1.08150731e-04 9.99989715e-01 -7.49549368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14439141799998 meters 0.05716337425029694 Centerline is valid? [True, True] Translation: X:119.29, Y:8.20, Z:-0.75 [[ 9.98103458e-01 -6.12526689e-02 6.13176972e-03 1.19291697e+02] [ 6.12525926e-02 9.98122277e-01 2.00414555e-04 8.19958858e+00] [-6.13253188e-03 1.75552332e-04 9.99981180e-01 -7.49688860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799997 meters 0.05803090408712337 Centerline is valid? [True, True] Translation: X:119.35, Y:8.19, Z:-0.75 [[ 9.98037869e-01 -6.23057058e-02 6.19760262e-03 1.19352599e+02] [ 6.23056486e-02 9.98057095e-01 2.02501385e-04 8.19425378e+00] [-6.19817826e-03 1.84041600e-04 9.99980774e-01 -7.50454332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799997 meters 0.0569386238589021 Centerline is valid? [True, True] Translation: X:119.41, Y:8.20, Z:-0.75 [[ 9.97899083e-01 -6.44860730e-02 6.24229027e-03 1.19413406e+02] [ 6.44860581e-02 9.97918587e-01 2.03858738e-04 8.20154884e+00] [-6.24244353e-03 1.99110245e-04 9.99980496e-01 -7.52398286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799998 meters 0.05719354429671723 Centerline is valid? [True, True] Translation: X:119.48, Y:8.20, Z:-0.75 [[ 9.97887809e-01 -6.46780133e-02 6.05599626e-03 1.19475597e+02] [ 6.46780032e-02 9.97906166e-01 1.97724323e-04 8.20047983e+00] [-6.05610442e-03 1.94383054e-04 9.99981643e-01 -7.53136747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799998 meters 0.057304512903161964 Centerline is valid? [True, True] Translation: X:119.54, Y:8.20, Z:-0.75 [[ 9.97960004e-01 -6.35476646e-02 6.12571675e-03 1.19537554e+02] [ 6.35476345e-02 9.97978786e-01 1.99745489e-04 8.20157310e+00] [-6.12602873e-03 1.89936799e-04 9.99981218e-01 -7.53389148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44439141799998 meters 0.05660903057262135 Centerline is valid? [True, True] Translation: X:119.60, Y:8.21, Z:-0.75 [[ 9.98027367e-01 -6.24598192e-02 6.33604414e-03 1.19599338e+02] [ 6.24597666e-02 9.98047461e-01 2.06375802e-04 8.20680426e+00] [-6.33656297e-03 1.89779140e-04 9.99979906e-01 -7.53739839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50439141799998 meters 0.05719283133555332 Centerline is valid? [True, True] Translation: X:119.66, Y:8.20, Z:-0.75 [[ 9.98223243e-01 -5.92812901e-02 6.00722174e-03 1.19658816e+02] [ 5.92811875e-02 9.98241305e-01 1.95292574e-04 8.20353939e+00] [-6.00823407e-03 1.61169652e-04 9.99981937e-01 -7.54435241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56439141799999 meters 0.056874445051075424 Centerline is valid? [True, True] Translation: X:119.72, Y:8.21, Z:-0.76 [[ 9.98417185e-01 -5.60011800e-02 5.19538977e-03 1.19719911e+02] [ 5.60010589e-02 9.98430695e-01 1.68907143e-04 8.20893773e+00] [-5.19669562e-03 1.22307534e-04 9.99986490e-01 -7.55552882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799997 meters 0.0578181064402535 Centerline is valid? [True, True] Translation: X:119.78, Y:8.21, Z:-0.76 [[ 9.98547458e-01 -5.36736225e-02 4.70282440e-03 1.19780197e+02] [ 5.36734976e-02 9.98558527e-01 1.52858192e-04 8.20594116e+00] [-4.70424986e-03 9.97808751e-05 9.99988930e-01 -7.56070371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799998 meters 0.05768356724622506 Centerline is valid? [True, True] Translation: X:119.84, Y:8.21, Z:-0.76 [[ 9.98601125e-01 -5.25308833e-02 6.02490506e-03 1.19842118e+02] [ 5.25306579e-02 9.98619293e-01 1.95765406e-04 8.21278425e+00] [-6.02687016e-03 1.21000672e-04 9.99981831e-01 -7.55114742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799998 meters 0.057518777824317066 Centerline is valid? [True, True] Translation: X:119.90, Y:8.22, Z:-0.75 [[ 9.98657929e-01 -5.13157764e-02 7.00233529e-03 1.19904531e+02] [ 5.13154453e-02 9.98682469e-01 2.27061911e-04 8.21608620e+00] [-7.00476135e-03 1.32570776e-04 9.99975458e-01 -7.54814700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80439141799998 meters 0.057154813546772376 Centerline is valid? [True, True] Translation: X:119.97, Y:8.22, Z:-0.76 [[ 9.98683424e-01 -5.08937274e-02 6.42237787e-03 1.19966660e+02] [ 5.08934414e-02 9.98704067e-01 2.08060641e-04 8.21810591e+00] [-6.42464388e-03 1.19070198e-04 9.99979355e-01 -7.56492493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86439141799998 meters 0.05731627336511441 Centerline is valid? [True, True] Translation: X:120.03, Y:8.22, Z:-0.76 [[ 9.98678241e-01 -5.10008463e-02 6.37842692e-03 1.20028254e+02] [ 5.10005677e-02 9.98698603e-01 2.06428086e-04 8.22197400e+00] [-6.38065406e-03 1.19148156e-04 9.99979636e-01 -7.58114665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92439141799998 meters 0.05711593893425436 Centerline is valid? [True, True] Translation: X:120.09, Y:8.23, Z:-0.76 [[ 9.98658886e-01 -5.13360264e-02 6.71124671e-03 1.20088926e+02] [ 5.13357275e-02 9.98681429e-01 2.16909651e-04 8.22627893e+00] [-6.71353274e-03 1.27907982e-04 9.99977456e-01 -7.58068685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799997 meters 0.05751721302139759 Centerline is valid? [True, True] Translation: X:120.15, Y:8.22, Z:-0.76 [[ 9.98718231e-01 -5.01108833e-02 7.12699951e-03 1.20150690e+02] [ 5.01105203e-02 9.98743652e-01 2.29606703e-04 8.22329105e+00] [-7.12955131e-03 1.27825253e-04 9.99974576e-01 -7.57426597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799998 meters 0.056453101807148055 Centerline is valid? [True, True] Translation: X:120.21, Y:8.23, Z:-0.76 [[ 9.98976218e-01 -4.46591057e-02 7.21671725e-03 1.20211531e+02] [ 4.46585931e-02 9.99002280e-01 2.32241986e-04 8.23072077e+00] [-7.21988870e-03 9.02842177e-05 9.99973932e-01 -7.57578666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799998 meters 0.057097000752368544 Centerline is valid? [True, True] Translation: X:120.27, Y:8.24, Z:-0.76 [[ 9.99185824e-01 -3.98141657e-02 6.52085049e-03 1.20271436e+02] [ 3.98136443e-02 9.99207101e-01 2.09800950e-04 8.23557505e+00] [-6.52403316e-03 4.99886875e-05 9.99978717e-01 -7.57853807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16439141799998 meters 0.05729601634927222 Centerline is valid? [True, True] Translation: X:120.33, Y:8.24, Z:-0.76 [[ 9.99336538e-01 -3.58443808e-02 6.45477661e-03 1.20333856e+02] [ 3.58437875e-02 9.99357383e-01 2.07610988e-04 8.23809391e+00] [-6.45807035e-03 2.38903952e-05 9.99979146e-01 -7.60069062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22439141799998 meters 0.05738407841613429 Centerline is valid? [True, True] Translation: X:120.40, Y:8.24, Z:-0.76 [[ 9.99303923e-01 -3.69876168e-02 4.85648949e-03 1.20395829e+02] [ 3.69872951e-02 9.99315724e-01 1.56065299e-04 8.23731097e+00] [-4.85893880e-03 2.36717446e-05 9.99988195e-01 -7.61323131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28439141799998 meters 0.057636699413437985 Centerline is valid? [True, True] Translation: X:120.46, Y:8.24, Z:-0.76 [[ 9.99227515e-01 -3.90503318e-02 4.40965785e-03 1.20457361e+02] [ 3.90500870e-02 9.99237244e-01 1.41651237e-04 8.23596526e+00] [-4.41182588e-03 3.06557086e-05 9.99990267e-01 -7.61963209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799997 meters 0.05665178369364695 Centerline is valid? [True, True] Translation: X:120.52, Y:8.23, Z:-0.76 [[ 9.99045290e-01 -4.34132761e-02 4.87813063e-03 1.20519123e+02] [ 4.34130314e-02 9.99057198e-01 1.56090107e-04 8.23468734e+00] [-4.88030790e-03 5.58333520e-05 9.99988090e-01 -7.61514775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799997 meters 0.0573275561193976 Centerline is valid? [True, True] Translation: X:120.58, Y:8.23, Z:-0.76 [[ 9.98935363e-01 -4.59166922e-02 4.44949854e-03 1.20580569e+02] [ 4.59165159e-02 9.98945271e-01 1.41815551e-04 8.23203832e+00] [-4.45131723e-03 6.26409017e-05 9.99990091e-01 -7.62030256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799998 meters 0.05740071876930886 Centerline is valid? [True, True] Translation: X:120.64, Y:8.23, Z:-0.76 [[ 9.98729023e-01 -5.01057843e-02 5.45430700e-03 1.20641924e+02] [ 5.01055829e-02 9.98743911e-01 1.73664122e-04 8.23216698e+00] [-5.45615748e-03 9.98478327e-05 9.99985110e-01 -7.62515452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52439141799998 meters 0.05718300965299908 Centerline is valid? [True, True] Translation: X:120.70, Y:8.23, Z:-0.76 [[ 9.98492071e-01 -5.46182637e-02 5.51631315e-03 1.20702831e+02] [ 5.46181269e-02 9.98507301e-01 1.75550584e-04 8.22602980e+00] [-5.51766722e-03 1.26004825e-04 9.99984770e-01 -7.62693518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58439141799998 meters 0.05764474978409552 Centerline is valid? [True, True] Translation: X:120.76, Y:8.23, Z:-0.76 [[ 9.98312286e-01 -5.78735339e-02 4.82015329e-03 1.20763514e+02] [ 5.78734677e-02 9.98323914e-01 1.53321305e-04 8.22659054e+00] [-4.82094755e-03 1.25896443e-04 9.99988371e-01 -7.63466151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64439141799998 meters 0.058530677779427165 Centerline is valid? [True, True] Translation: X:120.82, Y:8.22, Z:-0.76 [[ 9.98136555e-01 -6.08405802e-02 4.67355060e-03 1.20824171e+02] [ 6.08405507e-02 9.98147487e-01 1.48620654e-04 8.22033682e+00] [-4.67393495e-03 1.35997685e-04 9.99989068e-01 -7.63784304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799997 meters 0.05810007202019935 Centerline is valid? [True, True] Translation: X:120.89, Y:8.23, Z:-0.76 [[ 9.98138388e-01 -6.07160808e-02 5.77199357e-03 1.20886636e+02] [ 6.07160340e-02 9.98155063e-01 1.83500142e-04 8.22527782e+00] [-5.77248602e-03 1.67294022e-04 9.99983325e-01 -7.64134885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799997 meters 0.058908806662130636 Centerline is valid? [True, True] Translation: X:120.95, Y:8.22, Z:-0.76 [[ 9.98245828e-01 -5.89799232e-02 5.16099195e-03 1.20947596e+02] [ 5.89798636e-02 9.98259159e-01 1.63864094e-04 8.22423429e+00] [-5.16167218e-03 1.40817954e-04 9.99986669e-01 -7.64437537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799998 meters 0.05799149499561008 Centerline is valid? [True, True] Translation: X:121.01, Y:8.23, Z:-0.77 [[ 9.98400376e-01 -5.63702966e-02 4.36801551e-03 1.21009483e+02] [ 5.63702291e-02 9.98409925e-01 1.38652929e-04 8.22958180e+00] [-4.36888594e-03 1.07794898e-04 9.99990451e-01 -7.65390002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799998 meters 0.05805619992580162 Centerline is valid? [True, True] Translation: X:121.07, Y:8.24, Z:-0.77 [[ 9.98535549e-01 -5.39624007e-02 3.84925690e-03 1.21070401e+02] [ 5.39623310e-02 9.98542965e-01 1.22054136e-04 8.23660027e+00] [-3.85023473e-03 8.58394807e-05 9.99992584e-01 -7.65704590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94439141799998 meters 0.058093226816060856 Centerline is valid? [True, True] Translation: X:121.13, Y:8.24, Z:-0.77 [[ 9.98592056e-01 -5.29042091e-02 3.87954776e-03 1.21132151e+02] [ 5.29041304e-02 9.98599588e-01 1.22984800e-04 8.23726430e+00] [-3.88062121e-03 8.24324559e-05 9.99992467e-01 -7.65716165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00439141799998 meters 0.05723856409065892 Centerline is valid? [True, True] Translation: X:121.19, Y:8.25, Z:-0.77 [[ 9.98607486e-01 -5.26451175e-02 3.40294278e-03 1.21194502e+02] [ 5.26450557e-02 9.98613282e-01 1.07793035e-04 8.24577284e+00] [-3.40389863e-03 7.15051803e-05 9.99994204e-01 -7.65800422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06439141799999 meters 0.05722244761900319 Centerline is valid? [True, True] Translation: X:121.26, Y:8.25, Z:-0.77 [[ 9.98581050e-01 -5.31103337e-02 3.89595864e-03 1.21256759e+02] [ 5.31102566e-02 9.98588647e-01 1.23312799e-04 8.24743107e+00] [-3.89700925e-03 8.37775387e-05 9.99992403e-01 -7.65588873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799997 meters 0.059322524495982694 Centerline is valid? [True, True] Translation: X:121.32, Y:8.24, Z:-0.77 [[ 9.98540080e-01 -5.38469666e-02 4.26754812e-03 1.21318021e+02] [ 5.38468821e-02 9.98549195e-01 1.34772221e-04 8.24137186e+00] [-4.26861381e-03 9.52186963e-05 9.99990885e-01 -7.65799842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799998 meters 0.057280700784155265 Centerline is valid? [True, True] Translation: X:121.38, Y:8.25, Z:-0.77 [[ 9.98439195e-01 -5.56076149e-02 5.19301820e-03 1.21379366e+02] [ 5.56075158e-02 9.98452692e-01 1.63567589e-04 8.25149286e+00] [-5.19407860e-03 1.25458550e-04 9.99986503e-01 -7.65537626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799998 meters 0.057466622534543065 Centerline is valid? [True, True] Translation: X:121.44, Y:8.26, Z:-0.77 [[ 9.98341445e-01 -5.74374644e-02 3.91109154e-03 1.21440070e+02] [ 5.74374223e-02 9.98349101e-01 1.23161371e-04 8.25556546e+00] [-3.91170880e-03 1.01685915e-04 9.99992344e-01 -7.66165483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30439141799998 meters 0.05892837868195811 Centerline is valid? [True, True] Translation: X:121.50, Y:8.25, Z:-0.77 [[ 9.98329291e-01 -5.76722658e-02 3.54082679e-03 1.21501346e+02] [ 5.76722337e-02 9.98335565e-01 1.11260078e-04 8.25264649e+00] [-3.54134994e-03 9.31331960e-05 9.99993725e-01 -7.66959215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36439141799998 meters 0.057794375380453046 Centerline is valid? [True, True] Translation: X:121.56, Y:8.26, Z:-0.77 [[ 9.98416365e-01 -5.61041051e-02 4.13421461e-03 1.21562757e+02] [ 5.61040486e-02 9.98424919e-01 1.29728470e-04 8.26182907e+00] [-4.13498119e-03 1.02423150e-04 9.99991446e-01 -7.66637326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42439141799998 meters 0.05773814902886726 Centerline is valid? [True, True] Translation: X:121.62, Y:8.26, Z:-0.77 [[ 9.98737163e-01 -5.00182357e-02 4.71751474e-03 1.21621845e+02] [ 5.00180950e-02 9.98748301e-01 1.47867209e-04 8.26362407e+00] [-4.71900589e-03 8.82806237e-05 9.99988862e-01 -7.66590634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799997 meters 0.057769434421092135 Centerline is valid? [True, True] Translation: X:121.68, Y:8.27, Z:-0.77 [[ 9.99123160e-01 -4.17321921e-02 3.36692170e-03 1.21681641e+02] [ 4.17320734e-02 9.99128832e-01 1.05535616e-04 8.27352944e+00] [-3.36839278e-03 3.50655453e-05 9.99994326e-01 -7.66954978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799998 meters 0.057229481133390644 Centerline is valid? [True, True] Translation: X:121.74, Y:8.28, Z:-0.77 [[ 9.99313030e-01 -3.69315824e-02 3.08634416e-03 1.21743912e+02] [ 3.69314595e-02 9.99317796e-01 9.68273933e-05 8.28087426e+00] [-3.08781463e-03 1.72223183e-05 9.99995233e-01 -7.65757422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799998 meters 0.05757405810730023 Centerline is valid? [True, True] Translation: X:121.81, Y:8.28, Z:-0.77 [[ 9.99445482e-01 -3.31787611e-02 2.81035208e-03 1.21806120e+02] [ 3.31786444e-02 9.99449433e-01 8.81314385e-05 8.28143379e+00] [-2.81172889e-03 5.16110452e-06 9.99996047e-01 -7.66372243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66439141799998 meters 0.057090765012543725 Centerline is valid? [True, True] Translation: X:121.87, Y:8.28, Z:-0.77 [[ 9.99444368e-01 -3.32426103e-02 2.42572297e-03 1.21867681e+02] [ 3.32425238e-02 9.99447312e-01 7.60007497e-05 8.28255146e+00] [-2.42690876e-03 4.67863206e-06 9.99997055e-01 -7.65922379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72439141799998 meters 0.05832640623613604 Centerline is valid? [True, True] Translation: X:121.93, Y:8.28, Z:-0.77 [[ 9.99385269e-01 -3.50322818e-02 1.35030494e-03 1.21928707e+02] [ 3.50322566e-02 9.99386181e-01 4.23031533e-05 8.28084070e+00] [-1.35095807e-03 5.02708077e-06 9.99999087e-01 -7.67829697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78439141799998 meters 0.05762334887824365 Centerline is valid? [True, True] Translation: X:121.99, Y:8.28, Z:-0.77 [[ 9.99148193e-01 -4.12656287e-02 1.93101337e-04 1.21990785e+02] [ 4.12656283e-02 9.99148211e-01 6.21577391e-06 8.27552840e+00] [-1.93193354e-04 1.75796874e-06 9.99999981e-01 -7.69423094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799997 meters 0.05805993136183364 Centerline is valid? [True, True] Translation: X:122.05, Y:8.27, Z:-0.77 [[ 9.98755118e-01 -4.98815937e-02 2.03937640e-04 1.22051292e+02] [ 4.98815935e-02 9.98755138e-01 6.36479911e-06 8.27172170e+00] [-2.04001252e-04 3.81585878e-06 9.99999979e-01 -7.67445975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799997 meters 0.059579305174685536 Centerline is valid? [True, True] Translation: X:122.11, Y:8.26, Z:-0.77 [[ 9.98395993e-01 -5.66052498e-02 1.13416691e-03 1.22110708e+02] [ 5.66052460e-02 9.98396637e-01 3.54630743e-05 8.26317003e+00] [-1.13435583e-03 2.87936059e-05 9.99999356e-01 -7.67835221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799998 meters 0.05988257277657143 Centerline is valid? [True, True] Translation: X:122.17, Y:8.26, Z:-0.77 [[ 9.97621526e-01 -6.89234837e-02 9.18318665e-04 1.22171840e+02] [ 6.89234865e-02 9.97621949e-01 2.86430513e-05 8.25868098e+00] [-9.18109035e-04 3.47187995e-05 9.99999578e-01 -7.67211925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02439141799998 meters 0.06124881012568878 Centerline is valid? [True, True] Translation: X:122.23, Y:8.25, Z:-0.77 [[ 9.96626284e-01 -8.20692075e-02 8.33230247e-04 1.22231423e+02] [ 8.20692143e-02 9.96626632e-01 2.60019078e-05 8.24685254e+00] [-8.32553410e-04 4.24683669e-05 9.99999653e-01 -7.68108691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08439141799998 meters 0.05679413355377846 Centerline is valid? [True, True] Translation: X:122.29, Y:8.26, Z:-0.77 [[ 9.95612587e-01 -9.35711868e-02 9.77182679e-05 1.22291954e+02] [ 9.35711869e-02 9.95612592e-01 3.06826791e-06 8.26206580e+00] [-9.75766395e-05 6.08880817e-06 9.99999995e-01 -7.66273121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14439141799998 meters 0.058620339305970715 Centerline is valid? [True, True] Translation: X:122.35, Y:8.26, Z:-0.77 [[ 9.95214530e-01 -9.77138583e-02 -2.01653597e-04 1.22351155e+02] [ 9.77138590e-02 9.95214551e-01 -6.30993459e-06 8.26301823e+00] [ 2.01305162e-04 -1.34246125e-05 9.99999980e-01 -7.66717559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799997 meters 0.057238542444522464 Centerline is valid? [True, True] Translation: X:122.41, Y:8.27, Z:-0.77 [[ 9.95102657e-01 -9.88467589e-02 -1.45198477e-04 1.22410764e+02] [ 9.88467593e-02 9.95102667e-01 -4.29641607e-06 8.26558381e+00] [ 1.44912078e-04 -1.00770238e-05 9.99999989e-01 -7.67556419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799997 meters 0.05975645050027828 Centerline is valid? [True, True] Translation: X:122.47, Y:8.26, Z:-0.77 [[ 9.95326906e-01 -9.65625105e-02 -1.76363885e-04 1.22470152e+02] [ 9.65625110e-02 9.95326922e-01 -5.53115550e-06 8.26196001e+00] [ 1.76073825e-04 -1.15248317e-05 9.99999984e-01 -7.68864573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799998 meters 0.05758440222631289 Centerline is valid? [True, True] Translation: X:122.53, Y:8.28, Z:-0.77 [[ 9.95819310e-01 -9.13448939e-02 -1.10005899e-04 1.22530045e+02] [ 9.13448941e-02 9.95819316e-01 -3.37515918e-06 8.28282149e+00] [ 1.09854302e-04 -6.68742846e-06 9.99999994e-01 -7.69030009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799998 meters 0.05685189569411415 Centerline is valid? [True, True] Translation: X:122.59, Y:8.29, Z:-0.77 [[ 9.96262853e-01 -8.63730332e-02 -1.66528351e-04 1.22589530e+02] [ 8.63730335e-02 9.96262866e-01 -5.17889212e-06 8.28599589e+00] [ 1.66353328e-04 -9.22402097e-06 9.99999986e-01 -7.69838027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44439141799998 meters 0.05765301587760543 Centerline is valid? [True, True] Translation: X:122.65, Y:8.29, Z:-0.77 [[ 9.96987611e-01 -7.75549608e-02 9.65692880e-04 1.22649463e+02] [ 7.75549680e-02 9.96988077e-01 3.00306594e-05 8.29372777e+00] [-9.65113314e-04 4.49540850e-05 9.99999533e-01 -7.70619462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50439141799998 meters 0.05756782093871665 Centerline is valid? [True, True] Translation: X:122.71, Y:8.30, Z:-0.77 [[ 9.97750013e-01 -6.70240931e-02 1.63814401e-03 1.22709777e+02] [ 6.70240997e-02 9.97751356e-01 5.09332055e-05 8.30251596e+00] [-1.63787416e-03 5.89765208e-05 9.99998657e-01 -7.71483229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56439141799999 meters 0.057172159573447255 Centerline is valid? [True, True] Translation: X:122.77, Y:8.31, Z:-0.77 [[ 9.98431805e-01 -5.59130960e-02 2.76710503e-03 1.22769632e+02] [ 5.59130723e-02 9.98435637e-01 8.59747184e-05 8.31343881e+00] [-2.76758338e-03 6.88774501e-05 9.99996168e-01 -7.72071685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799997 meters 0.0572265743014534 Centerline is valid? [True, True] Translation: X:122.83, Y:8.32, Z:-0.77 [[ 9.98783827e-01 -4.92092192e-02 3.05275215e-03 1.22829295e+02] [ 4.92091592e-02 9.98788491e-01 9.47925673e-05 8.31933949e+00] [-3.05371838e-03 5.55460833e-05 9.99995336e-01 -7.73248277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799998 meters 0.05676775951485152 Centerline is valid? [True, True] Translation: X:122.89, Y:8.33, Z:-0.77 [[ 9.99079953e-01 -4.27759512e-02 3.07645156e-03 1.22890094e+02] [ 4.27758595e-02 9.99084689e-01 9.56245579e-05 8.32731549e+00] [-3.07772608e-03 3.60612810e-05 9.99995263e-01 -7.74535955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799998 meters 0.05691474362575444 Centerline is valid? [True, True] Translation: X:122.95, Y:8.33, Z:-0.78 [[ 9.99142553e-01 -4.12337010e-02 3.73370929e-03 1.22950833e+02] [ 4.12335554e-02 9.99149529e-01 1.15992034e-04 8.32997690e+00] [-3.73531666e-03 3.80615322e-05 9.99993023e-01 -7.75243013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80439141799998 meters 0.057469526291318795 Centerline is valid? [True, True] Translation: X:123.01, Y:8.33, Z:-0.78 [[ 9.99127526e-01 -4.15667144e-02 4.04916566e-03 1.23012197e+02] [ 4.15665463e-02 9.99135730e-01 1.25697018e-04 8.33170804e+00] [-4.05089089e-03 4.27224817e-05 9.99991794e-01 -7.75570617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86439141799998 meters 0.05705706213727299 Centerline is valid? [True, True] Translation: X:123.07, Y:8.33, Z:-0.78 [[ 9.99007997e-01 -4.42883222e-02 4.64400867e-03 1.23074427e+02] [ 4.42881313e-02 9.99018789e-01 1.43989235e-04 8.33258116e+00] [-4.64582896e-03 6.18280689e-05 9.99989206e-01 -7.76091797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92439141799998 meters 0.05764702755534756 Centerline is valid? [True, True] Translation: X:123.14, Y:8.33, Z:-0.78 [[ 9.98901575e-01 -4.64945134e-02 5.82274850e-03 1.23136032e+02] [ 4.64942520e-02 9.98918541e-01 1.80316070e-04 8.33389925e+00] [-5.82483515e-03 9.06063303e-05 9.99983031e-01 -7.76494221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799997 meters 0.05819139935096121 Centerline is valid? [True, True] Translation: X:123.20, Y:8.33, Z:-0.78 [[ 9.98731399e-01 -4.98658032e-02 6.99960945e-03 1.23196177e+02] [ 4.98655137e-02 9.98755918e-01 2.15988853e-04 8.32934333e+00] [-7.00167182e-03 1.33324272e-04 9.99975479e-01 -7.75768641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799998 meters 0.057349526240484575 Centerline is valid? [True, True] Translation: X:123.26, Y:8.34, Z:-0.78 [[ 9.98673738e-01 -5.09715624e-02 7.25699696e-03 1.23257801e+02] [ 5.09712813e-02 9.98700094e-01 2.23799928e-04 8.33530974e+00] [-7.25897099e-03 1.46395323e-04 9.99973643e-01 -7.76316930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799998 meters 0.05733680875066868 Centerline is valid? [True, True] Translation: X:123.32, Y:8.33, Z:-0.78 [[ 9.98604837e-01 -5.24330380e-02 6.25746880e-03 1.23319245e+02] [ 5.24328613e-02 9.98624433e-01 1.92402460e-04 8.32959585e+00] [-6.25894947e-03 1.35962966e-04 9.99980403e-01 -7.77947467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16439141799998 meters 0.056794959565953575 Centerline is valid? [True, True] Translation: X:123.38, Y:8.34, Z:-0.78 [[ 9.98686927e-01 -5.09534264e-02 5.30756173e-03 1.23380597e+02] [ 5.09532811e-02 9.98701025e-01 1.62678982e-04 8.34113068e+00] [-5.30895639e-03 1.07972312e-04 9.99985902e-01 -7.78766505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22439141799998 meters 0.05718925051838304 Centerline is valid? [True, True] Translation: X:123.44, Y:8.33, Z:-0.78 [[ 9.98834136e-01 -4.79401663e-02 5.66645990e-03 1.23441962e+02] [ 4.79399533e-02 9.98850204e-01 1.73489973e-04 8.33495577e+00] [-5.66826177e-03 9.83621154e-05 9.99983930e-01 -7.80197192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28439141799998 meters 0.05789971087359951 Centerline is valid? [True, True] Translation: X:123.50, Y:8.34, Z:-0.78 [[ 9.99104222e-01 -4.20958595e-02 4.32343993e-03 1.23502204e+02] [ 4.20956812e-02 9.99113575e-01 1.32277836e-04 8.33644944e+00] [-4.32517588e-03 4.98388042e-05 9.99990645e-01 -7.82676101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799997 meters 0.057093150160237145 Centerline is valid? [True, True] Translation: X:123.56, Y:8.34, Z:-0.78 [[ 9.99279485e-01 -3.77107895e-02 4.29032676e-03 1.23563116e+02] [ 3.77105736e-02 9.99288695e-01 1.31238028e-04 8.34318143e+00] [-4.29222412e-03 3.06472145e-05 9.99990788e-01 -7.82471686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799997 meters 0.057095949660501535 Centerline is valid? [True, True] Translation: X:123.63, Y:8.35, Z:-0.78 [[ 9.99541280e-01 -3.00004861e-02 4.14736557e-03 1.23625265e+02] [ 3.00002181e-02 9.99549884e-01 1.26848671e-04 8.34821419e+00] [-4.14930429e-03 -2.36861132e-06 9.99991392e-01 -7.82693184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799998 meters 0.056785457007930376 Centerline is valid? [True, True] Translation: X:123.69, Y:8.35, Z:-0.78 [[ 9.99697596e-01 -2.41100018e-02 4.83992994e-03 1.23687748e+02] [ 2.41095688e-02 9.99709311e-01 1.47792316e-04 8.35014670e+00] [-4.84208630e-03 -3.10589989e-05 9.99988277e-01 -7.83068611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52439141799998 meters 0.0583804093871572 Centerline is valid? [True, True] Translation: X:123.75, Y:8.35, Z:-0.78 [[ 9.99738060e-01 -2.24969318e-02 4.20697739e-03 1.23749053e+02] [ 2.24965912e-02 9.99746911e-01 1.28282763e-04 8.34798934e+00] [-4.20879863e-03 -3.36065103e-05 9.99991142e-01 -7.82770921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58439141799998 meters 0.0575777019073773 Centerline is valid? [True, True] Translation: X:123.81, Y:8.35, Z:-0.78 [[ 9.99666494e-01 -2.55769500e-02 3.56649840e-03 1.23811067e+02] [ 2.55767249e-02 9.99672856e-01 1.08711615e-04 8.34662043e+00] [-3.56811216e-03 -1.74560103e-05 9.99993634e-01 -7.84058146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64439141799998 meters 0.05707948369061339 Centerline is valid? [True, True] Translation: X:123.87, Y:8.34, Z:-0.78 [[ 9.99467238e-01 -3.23772076e-02 4.11789177e-03 1.23874005e+02] [ 3.23769660e-02 9.99475721e-01 1.25334870e-04 8.33718666e+00] [-4.11979084e-03 8.05674617e-06 9.99991514e-01 -7.84592229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799997 meters 0.0577891201495288 Centerline is valid? [True, True] Translation: X:123.94, Y:8.33, Z:-0.79 [[ 9.99312465e-01 -3.68889943e-02 3.71478756e-03 1.23935512e+02] [ 3.68888288e-02 9.99319369e-01 1.13089052e-04 8.32969020e+00] [-3.71643090e-03 2.40228630e-05 9.99993094e-01 -7.85486612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799997 meters 0.0577780096552766 Centerline is valid? [True, True] Translation: X:124.00, Y:8.32, Z:-0.78 [[ 9.99005806e-01 -4.43554859e-02 4.47110830e-03 1.23996143e+02] [ 4.43553244e-02 9.99015809e-01 1.35325728e-04 8.31903826e+00] [-4.47271031e-03 6.31262708e-05 9.99989995e-01 -7.84383820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799998 meters 0.05830548020636602 Centerline is valid? [True, True] Translation: X:124.06, Y:8.31, Z:-0.78 [[ 9.98653693e-01 -5.17426286e-02 3.67458047e-03 1.24056870e+02] [ 5.17425696e-02 9.98660450e-01 1.11181511e-04 8.31354644e+00] [-3.67541101e-03 7.91004091e-05 9.99993243e-01 -7.84621052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799998 meters 0.059169407884617796 Centerline is valid? [True, True] Translation: X:124.12, Y:8.31, Z:-0.78 [[ 9.98321793e-01 -5.77170637e-02 4.72631356e-03 1.24117285e+02] [ 5.77170331e-02 9.98332972e-01 1.42994577e-04 8.30563127e+00] [-4.72668789e-03 1.30034193e-04 9.99988821e-01 -7.84895580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94439141799998 meters 0.05841421365954908 Centerline is valid? [True, True] Translation: X:124.18, Y:8.31, Z:-0.78 [[ 9.98145140e-01 -6.06567588e-02 5.19974732e-03 1.24178095e+02] [ 6.06567615e-02 9.98158671e-01 1.57316037e-04 8.30650887e+00] [-5.19971515e-03 1.58375595e-04 9.99986469e-01 -7.84491187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00439141799998 meters 0.05834924432937471 Centerline is valid? [True, True] Translation: X:124.24, Y:8.30, Z:-0.79 [[ 9.97939072e-01 -6.40177588e-02 4.39711822e-03 1.24237896e+02] [ 6.40177935e-02 9.97948748e-01 1.32982621e-04 8.30475561e+00] [-4.39661188e-03 1.48785253e-04 9.99990324e-01 -7.85269823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06439141799997 meters 0.05958403044137514 Centerline is valid? [True, True] Translation: X:124.30, Y:8.30, Z:-0.79 [[ 9.97822928e-01 -6.58353850e-02 3.88666549e-03 1.24299370e+02] [ 6.58354256e-02 9.97830488e-01 1.17620640e-04 8.30110258e+00] [-3.88597693e-03 1.38515705e-04 9.99992440e-01 -7.86896914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799997 meters 0.05781380055208251 Centerline is valid? [True, True] Translation: X:124.36, Y:8.31, Z:-0.79 [[ 9.97686683e-01 -6.79375072e-02 2.40358556e-03 1.24360288e+02] [ 6.79375290e-02 9.97689574e-01 7.27096449e-05 8.31190287e+00] [-2.40297197e-03 9.07522192e-05 9.99997109e-01 -7.86878484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799998 meters 0.057959530622501906 Centerline is valid? [True, True] Translation: X:124.42, Y:8.31, Z:-0.79 [[ 9.97657176e-01 -6.83699395e-02 2.38972040e-03 1.24422991e+02] [ 6.83699620e-02 9.97660034e-01 7.23415701e-05 8.30900813e+00] [-2.38907452e-03 9.12130062e-05 9.99997142e-01 -7.87596016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799998 meters 0.05768761200120136 Centerline is valid? [True, True] Translation: X:124.48, Y:8.31, Z:-0.79 [[ 9.97754621e-01 -6.68938522e-02 3.30577676e-03 1.24484126e+02] [ 6.68938883e-02 9.97760090e-01 9.97666862e-05 8.31327169e+00] [-3.30504590e-03 1.21593589e-04 9.99994531e-01 -7.87116297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30439141799998 meters 0.05757575528562375 Centerline is valid? [True, True] Translation: X:124.54, Y:8.32, Z:-0.79 [[ 9.97918136e-01 -6.43970459e-02 3.52349052e-03 1.24543482e+02] [ 6.43970718e-02 9.97924349e-01 1.06206201e-04 8.31742429e+00] [-3.52301635e-03 1.20917378e-04 9.99993787e-01 -7.87375480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36439141799998 meters 0.05792304798418205 Centerline is valid? [True, True] Translation: X:124.60, Y:8.33, Z:-0.79 [[ 9.98269126e-01 -5.87521240e-02 2.63424475e-03 1.24604365e+02] [ 5.87521187e-02 9.98272599e-01 7.94520807e-05 8.32581173e+00] [-2.63436233e-03 7.54529009e-05 9.99996527e-01 -7.87953291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42439141799998 meters 0.058347005780892726 Centerline is valid? [True, True] Translation: X:124.66, Y:8.33, Z:-0.79 [[ 9.98635722e-01 -5.21389285e-02 2.86815154e-03 1.24663920e+02] [ 5.21388951e-02 9.98639839e-01 8.64568998e-05 8.33152911e+00] [-2.86875817e-03 6.32033041e-05 9.99995883e-01 -7.88498993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799997 meters 0.057469340947708586 Centerline is valid? [True, True] Translation: X:124.72, Y:8.34, Z:-0.79 [[ 9.98847059e-01 -4.77717795e-02 4.73392722e-03 1.24724856e+02] [ 4.77716391e-02 9.98858273e-01 1.42796529e-04 8.34427691e+00] [-4.73534401e-03 8.35155693e-05 9.99988785e-01 -7.87149864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799998 meters 0.05751177479083029 Centerline is valid? [True, True] Translation: X:124.79, Y:8.34, Z:-0.79 [[ 9.98920822e-01 -4.62252374e-02 4.51872400e-03 1.24786100e+02] [ 4.62250936e-02 9.98931040e-01 1.36305914e-04 8.34054245e+00] [-4.52019444e-03 7.27196246e-05 9.99989781e-01 -7.88240939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799998 meters 0.057404216355657546 Centerline is valid? [True, True] Translation: X:124.85, Y:8.35, Z:-0.79 [[ 9.98956627e-01 -4.54410551e-02 4.55724804e-03 1.24848504e+02] [ 4.54409014e-02 9.98967019e-01 1.37325621e-04 8.34630098e+00] [-4.55878071e-03 6.99031195e-05 9.99989606e-01 -7.89124901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66439141799998 meters 0.05783387245427569 Centerline is valid? [True, True] Translation: X:124.91, Y:8.35, Z:-0.79 [[ 9.99026865e-01 -4.39911847e-02 3.17798345e-03 1.24910587e+02] [ 4.39911028e-02 9.99031918e-01 9.56849818e-05 8.34964034e+00] [-3.17911620e-03 4.42111295e-05 9.99994946e-01 -7.90369267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72439141799998 meters 0.057665522074291244 Centerline is valid? [True, True] Translation: X:124.97, Y:8.36, Z:-0.79 [[ 9.99090204e-01 -4.24900359e-02 3.65538978e-03 1.24971370e+02] [ 4.24899179e-02 9.99096890e-01 1.09983698e-04 8.35574989e+00] [-3.65676178e-03 4.54335768e-05 9.99993313e-01 -7.89859001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78439141799998 meters 0.05723939147083546 Centerline is valid? [True, True] Translation: X:125.03, Y:8.36, Z:-0.79 [[ 9.99156490e-01 -4.07867649e-02 4.76956151e-03 1.25032228e+02] [ 4.07865469e-02 9.99167872e-01 1.43022675e-04 8.35676886e+00] [-4.77142606e-03 5.16319100e-05 9.99988615e-01 -7.89872196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799997 meters 0.05755641287712116 Centerline is valid? [True, True] Translation: X:125.09, Y:8.36, Z:-0.79 [[ 9.99133859e-01 -4.12090899e-02 5.77429242e-03 1.25094549e+02] [ 4.12087782e-02 9.99150543e-01 1.73002430e-04 8.35627555e+00] [-5.77651667e-03 6.50989497e-05 9.99983314e-01 -7.90616105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799997 meters 0.05747611454923224 Centerline is valid? [True, True] Translation: X:125.16, Y:8.35, Z:-0.79 [[ 9.99103718e-01 -4.19482354e-02 5.66616102e-03 1.25155479e+02] [ 4.19479485e-02 9.99119783e-01 1.69515789e-04 8.35473077e+00] [-5.66828445e-03 6.83199755e-05 9.99983933e-01 -7.91237522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799998 meters 0.05709347964924181 Centerline is valid? [True, True] Translation: X:125.22, Y:8.36, Z:-0.79 [[ 9.99091743e-01 -4.21262751e-02 6.40833055e-03 1.25217180e+02] [ 4.21259131e-02 9.99112291e-01 1.91529117e-04 8.35936395e+00] [-6.41071023e-03 7.86016160e-05 9.99979448e-01 -7.92099594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02439141799998 meters 0.05766354756613216 Centerline is valid? [True, True] Translation: X:125.28, Y:8.36, Z:-0.79 [[ 9.99124595e-01 -4.14310230e-02 5.78906824e-03 1.25278511e+02] [ 4.14307169e-02 9.99141364e-01 1.72848581e-04 8.35732345e+00] [-5.79125883e-03 6.71479784e-05 9.99983228e-01 -7.92617252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08439141799998 meters 0.057146044382324956 Centerline is valid? [True, True] Translation: X:125.34, Y:8.36, Z:-0.79 [[ 9.99244636e-01 -3.84532332e-02 5.61297818e-03 1.25340681e+02] [ 3.84528994e-02 9.99260400e-01 1.67414718e-04 8.35848047e+00] [-5.61526446e-03 4.85470265e-05 9.99984233e-01 -7.93008244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14439141799998 meters 0.057693350694324054 Centerline is valid? [True, True] Translation: X:125.40, Y:8.36, Z:-0.79 [[ 9.99387835e-01 -3.46126599e-02 5.09109883e-03 1.25402649e+02] [ 3.46123361e-02 9.99400802e-01 1.51717534e-04 8.36056553e+00] [-5.09329960e-03 2.45901659e-05 9.99987029e-01 -7.93444416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799997 meters 0.05770046768548365 Centerline is valid? [True, True] Translation: X:125.46, Y:8.36, Z:-0.79 [[ 9.99457625e-01 -3.26191170e-02 4.52205695e-03 1.25463877e+02] [ 3.26188420e-02 9.99467855e-01 1.34571535e-04 8.36091507e+00] [-4.52404017e-03 1.30057149e-05 9.99989766e-01 -7.94518489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799997 meters 0.05702010310306129 Centerline is valid? [True, True] Translation: X:125.53, Y:8.36, Z:-0.80 [[ 9.99523014e-01 -3.07363509e-02 3.00341335e-03 1.25526057e+02] [ 3.07362211e-02 9.99527527e-01 8.94011878e-05 8.35946714e+00] [-3.00474218e-03 2.95503186e-06 9.99995486e-01 -7.96247716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799998 meters 0.05840881094305658 Centerline is valid? [True, True] Translation: X:125.59, Y:8.36, Z:-0.80 [[ 9.99506280e-01 -3.12303560e-02 3.44407894e-03 1.25589206e+02] [ 3.12301886e-02 9.99512213e-01 1.02381723e-04 8.35859874e+00] [-3.44559639e-03 5.22805942e-06 9.99994064e-01 -7.95206798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799998 meters 0.05752570199338946 Centerline is valid? [True, True] Translation: X:125.65, Y:8.36, Z:-0.79 [[ 9.99440150e-01 -3.33368375e-02 2.83586181e-03 1.25650295e+02] [ 3.33367330e-02 9.99444173e-01 8.40937577e-05 8.35842711e+00] [-2.83708899e-03 1.04916905e-05 9.99995975e-01 -7.93701086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44439141799998 meters 0.057742365163204634 Centerline is valid? [True, True] Translation: X:125.71, Y:8.35, Z:-0.79 [[ 9.99182231e-01 -4.02483402e-02 3.86525511e-03 1.25712071e+02] [ 4.02481986e-02 9.99189706e-01 1.14446726e-04 8.35349460e+00] [-3.86672941e-03 4.12164201e-05 9.99992523e-01 -7.94044124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50439141799998 meters 0.058836907520517324 Centerline is valid? [True, True] Translation: X:125.77, Y:8.34, Z:-0.79 [[ 9.98889479e-01 -4.68803679e-02 4.69472969e-03 1.25773228e+02] [ 4.68802326e-02 9.98900508e-01 1.38924187e-04 8.34393552e+00] [-4.69608069e-03 8.13201113e-05 9.99988970e-01 -7.94961249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56439141799997 meters 0.05843369270661375 Centerline is valid? [True, True] Translation: X:125.83, Y:8.34, Z:-0.80 [[ 9.98368339e-01 -5.69875395e-02 3.61672475e-03 1.25834028e+02] [ 5.69875257e-02 9.98374885e-01 1.06948373e-04 8.33857210e+00] [-3.61694188e-03 9.93343253e-05 9.99993454e-01 -7.96221481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799997 meters 0.061632922572642954 Centerline is valid? [True, True] Translation: X:125.89, Y:8.32, Z:-0.80 [[ 9.97870572e-01 -6.51824197e-02 2.36076626e-03 1.25894213e+02] [ 6.51824367e-02 9.97873361e-01 6.98132795e-05 8.32476864e+00] [-2.36029637e-03 8.42158803e-05 9.99997211e-01 -7.98208041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799998 meters 0.05880850108954806 Centerline is valid? [True, True] Translation: X:125.95, Y:8.33, Z:-0.80 [[ 9.97642787e-01 -6.85457921e-02 3.21625268e-03 1.25954333e+02] [ 6.85458412e-02 9.97647963e-01 9.51018439e-05 8.33119376e+00] [-3.21520676e-03 1.25583077e-04 9.99994823e-01 -7.97033284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799998 meters 0.05973734898404307 Centerline is valid? [True, True] Translation: X:126.01, Y:8.33, Z:-0.80 [[ 9.97762038e-01 -6.67488585e-02 3.93780610e-03 1.26014654e+02] [ 6.67489181e-02 9.97769797e-01 1.16443450e-04 8.33153568e+00] [-3.93679646e-03 1.46661443e-04 9.99992240e-01 -7.96194634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80439141799998 meters 0.0592542635045488 Centerline is valid? [True, True] Translation: X:126.07, Y:8.34, Z:-0.80 [[ 9.97915450e-01 -6.43989502e-02 4.18676164e-03 1.26074994e+02] [ 6.43989971e-02 9.97924223e-01 1.23752506e-04 8.33931957e+00] [-4.18604039e-03 1.46128713e-04 9.99991228e-01 -7.96611492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86439141799998 meters 0.06053630780887459 Centerline is valid? [True, True] Translation: X:126.14, Y:8.34, Z:-0.80 [[ 9.98080642e-01 -6.18344092e-02 3.39676746e-03 1.26135215e+02] [ 6.18344252e-02 9.98086416e-01 1.00401819e-04 8.33605507e+00] [-3.39647575e-03 1.09828051e-04 9.99994226e-01 -7.98308156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92439141799998 meters 0.05986934290515116 Centerline is valid? [True, True] Translation: X:126.20, Y:8.35, Z:-0.80 [[ 9.98170699e-01 -6.04380523e-02 1.58048501e-03 1.26196682e+02] [ 6.04380538e-02 9.98171949e-01 4.68482120e-05 8.34680283e+00] [-1.58042722e-03 4.87589256e-05 9.99998750e-01 -7.99318738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799997 meters 0.05887084444824505 Centerline is valid? [True, True] Translation: X:126.26, Y:8.35, Z:-0.80 [[ 9.98092090e-01 -6.17364362e-02 8.90010801e-04 1.26258486e+02] [ 6.17364371e-02 9.98092487e-01 2.64899625e-05 8.35147977e+00] [-8.89948489e-04 2.85066738e-05 9.99999604e-01 -7.99646678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters 0.059857561980592076 Centerline is valid? [True, True] Translation: X:126.32, Y:8.36, Z:-0.80 [[ 9.97903924e-01 -6.47050993e-02 1.00383298e-03 1.26317892e+02] [ 6.47051022e-02 9.97904429e-01 2.96003104e-05 8.35625284e+00] [-1.00364467e-03 3.54148495e-05 9.99999496e-01 -7.99129559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters 0.060473130559407715 Centerline is valid? [True, True] Translation: X:126.38, Y:8.36, Z:-0.80 [[ 9.97784402e-01 -6.65095200e-02 1.66431942e-03 1.26377715e+02] [ 6.65095305e-02 9.97785789e-01 4.90763850e-05 8.35864236e+00] [-1.66389831e-03 6.17254515e-05 9.99998614e-01 -7.99331843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16439141799998 meters 0.06033017176658238 Centerline is valid? [True, True] Translation: X:126.44, Y:8.36, Z:-0.80 [[ 9.97833128e-01 -6.57362038e-02 2.79302402e-03 1.26439160e+02] [ 6.57362303e-02 9.97837031e-01 8.24325010e-05 8.35794458e+00] [-2.79240160e-03 1.01348990e-04 9.99996096e-01 -8.00197850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22439141799998 meters 0.057438591620487756 Centerline is valid? [True, True] Translation: X:126.50, Y:8.38, Z:-0.80 [[ 9.98040768e-01 -6.24771079e-02 3.35214559e-03 1.26498918e+02] [ 6.24771281e-02 9.98046391e-01 9.88009988e-05 8.38125767e+00] [-3.35176961e-03 1.10825005e-04 9.99994377e-01 -7.99695524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28439141799998 meters 0.058896029342365236 Centerline is valid? [True, True] Translation: X:126.56, Y:8.38, Z:-0.80 [[ 9.98294026e-01 -5.83292089e-02 2.59644261e-03 1.26559061e+02] [ 5.83292072e-02 9.98297399e-01 7.64494907e-05 8.37793068e+00] [-2.59648115e-03 7.51293693e-05 9.99996626e-01 -8.02344479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344391418 meters 0.057684944253407006 Centerline is valid? [True, True] Translation: X:126.62, Y:8.39, Z:-0.80 [[ 9.98432206e-01 -5.58988942e-02 2.90564204e-03 1.26620023e+02] [ 5.58988813e-02 9.98436431e-01 8.57079890e-05 8.39055352e+00] [-2.90588985e-03 7.68485228e-05 9.99995775e-01 -8.02375739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404391418 meters 0.05763723775761737 Centerline is valid? [True, True] Translation: X:126.68, Y:8.40, Z:-0.80 [[ 9.98664906e-01 -5.15317987e-02 3.58884372e-03 1.26680649e+02] [ 5.15317517e-02 9.98671351e-01 1.05617184e-04 8.39854014e+00] [-3.58951805e-03 7.94632288e-05 9.99993555e-01 -8.02667829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464391418 meters 0.058024354169292996 Centerline is valid? [True, True] Translation: X:126.74, Y:8.40, Z:-0.80 [[ 9.98847135e-01 -4.79516638e-02 2.24484526e-03 1.26741164e+02] [ 4.79516363e-02 9.98849656e-01 6.60954047e-05 8.40194481e+00] [-2.24543231e-03 4.16247981e-05 9.99997478e-01 -8.04590345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters 0.057444645178525114 Centerline is valid? [True, True] Translation: X:126.80, Y:8.41, Z:-0.81 [[ 9.99022439e-01 -4.41658879e-02 1.88161860e-03 1.26802013e+02] [ 4.41658618e-02 9.99024211e-01 5.54204175e-05 8.41225727e+00] [-1.88223023e-03 2.77370665e-05 9.99998228e-01 -8.05660901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters 0.056830182826183545 Centerline is valid? [True, True] Translation: X:126.86, Y:8.42, Z:-0.80 [[ 9.99100199e-01 -4.23572500e-02 2.15762380e-03 1.26863074e+02] [ 4.23572117e-02 9.99102529e-01 6.34743924e-05 8.42241322e+00] [-2.15837599e-03 2.79736498e-05 9.99997670e-01 -8.04100432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters 0.057106799107836066 Centerline is valid? [True, True] Translation: X:126.93, Y:8.42, Z:-0.81 [[ 9.99086622e-01 -4.26770991e-02 2.14156117e-03 1.26925049e+02] [ 4.26770620e-02 9.99088917e-01 6.30008915e-05 8.42123506e+00] [-2.14229872e-03 2.84521909e-05 9.99997705e-01 -8.05267241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters 0.05726227020963893 Centerline is valid? [True, True] Translation: X:126.99, Y:8.42, Z:-0.80 [[ 9.98923479e-01 -4.62587402e-02 3.46579813e-03 1.26987230e+02] [ 4.62586658e-02 9.98929490e-01 1.01667319e-04 8.42225043e+00] [-3.46679096e-03 5.87653258e-05 9.99993989e-01 -8.04869133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters 0.05815042688672699 Centerline is valid? [True, True] Translation: X:127.05, Y:8.42, Z:-0.80 [[ 9.98726504e-01 -5.03209633e-02 3.62928359e-03 1.27048140e+02] [ 5.03209092e-02 9.98733095e-01 1.06304166e-04 8.42058764e+00] [-3.63003496e-03 7.64600619e-05 9.99993408e-01 -8.04963989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters 0.057589445988068824 Centerline is valid? [True, True] Translation: X:127.11, Y:8.42, Z:-0.81 [[ 9.98656596e-01 -5.17321333e-02 2.96472223e-03 1.27109144e+02] [ 5.17321031e-02 9.98660995e-01 8.69316012e-05 8.41985692e+00] [-2.96524961e-03 6.65564993e-05 9.99995601e-01 -8.05248826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88439141799998 meters 0.05794124378555075 Centerline is valid? [True, True] Translation: X:127.17, Y:8.42, Z:-0.81 [[ 9.98660755e-01 -5.16546706e-02 2.91385298e-03 1.27171711e+02] [ 5.16546413e-02 9.98665004e-01 8.53575323e-05 8.42023715e+00] [-2.91437211e-03 6.52708127e-05 9.99995751e-01 -8.05628675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94439141799998 meters 0.05610461902968281 Centerline is valid? [True, True] Translation: X:127.23, Y:8.43, Z:-0.80 [[ 9.98755448e-01 -4.98184517e-02 2.38246115e-03 1.27232695e+02] [ 4.98184273e-02 9.98758289e-01 6.96204353e-05 8.43353705e+00] [-2.38297120e-03 4.91566785e-05 9.99997160e-01 -8.04400198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00439141799998 meters 0.05749325998434565 Centerline is valid? [True, True] Translation: X:127.29, Y:8.43, Z:-0.81 [[ 9.99037924e-01 -4.37914978e-02 2.35188154e-03 1.27293479e+02] [ 4.37914581e-02 9.99040692e-01 6.83985694e-05 8.43205820e+00] [-2.35262063e-03 3.46595571e-05 9.99997232e-01 -8.06093785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06439141799999 meters 0.05715457698156998 Centerline is valid? [True, True] Translation: X:127.35, Y:8.44, Z:-0.81 [[ 9.99390937e-01 -3.48642719e-02 1.49593862e-03 1.27353389e+02] [ 3.48642458e-02 9.99392056e-01 4.34997847e-05 8.43690176e+00] [-1.49654576e-03 8.68148123e-06 9.99998880e-01 -8.07307445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124391418 meters 0.056583467995976036 Centerline is valid? [True, True] Translation: X:127.42, Y:8.44, Z:-0.81 [[ 9.99623137e-01 -2.73827418e-02 1.94148039e-03 1.27415297e+02] [ 2.73826837e-02 9.99625022e-01 5.65216560e-05 8.44155804e+00] [-1.94230009e-03 -3.33741175e-06 9.99998114e-01 -8.06028734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184391418 meters 0.05718886664916939 Centerline is valid? [True, True] Translation: X:127.48, Y:8.45, Z:-0.81 [[ 9.99718133e-01 -2.36897507e-02 1.56506111e-03 1.27477328e+02] [ 2.36897083e-02 9.99719358e-01 4.56036056e-05 8.44520022e+00] [-1.56570223e-03 -8.51491014e-06 9.99998774e-01 -8.06987164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244391418 meters 0.05687130078462166 Centerline is valid? [True, True] Translation: X:127.54, Y:8.44, Z:-0.81 [[ 9.99778897e-01 -2.09930540e-02 1.20339731e-03 1.27538465e+02] [ 2.09930271e-02 9.99779622e-01 3.49917965e-05 8.44382040e+00] [-1.20386670e-03 -9.72110731e-06 9.99999275e-01 -8.05812945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters 0.05790127914215335 Centerline is valid? [True, True] Translation: X:127.60, Y:8.44, Z:-0.81 [[ 9.99776548e-01 -2.11017972e-02 1.25201821e-03 1.27599796e+02] [ 2.11017682e-02 9.99777332e-01 3.63537737e-05 8.44276304e+00] [-1.25250656e-03 -9.92585227e-06 9.99999216e-01 -8.07289376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters 0.05756856187531784 Centerline is valid? [True, True] Translation: X:127.66, Y:8.44, Z:-0.81 [[ 9.99732707e-01 -2.31085918e-02 7.11783502e-04 1.27662148e+02] [ 2.31085828e-02 9.99732961e-01 2.07910139e-05 8.44129952e+00] [-7.12073879e-04 -4.33714857e-06 9.99999746e-01 -8.10422183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters 0.05727409382305193 Centerline is valid? [True, True] Translation: X:127.72, Y:8.44, Z:-0.81 [[ 9.99675283e-01 -2.54806765e-02 2.51193224e-04 1.27724091e+02] [ 2.54806754e-02 9.99675315e-01 7.44152762e-06 8.43688649e+00] [-2.51301281e-04 -1.03853823e-06 9.99999968e-01 -8.09663892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters 0.05726053715980783 Centerline is valid? [True, True] Translation: X:127.79, Y:8.43, Z:-0.81 [[ 9.99586679e-01 -2.87145392e-02 1.39484334e-03 1.27787012e+02] [ 2.87145107e-02 9.99587653e-01 4.04469553e-05 8.43092978e+00] [-1.39542960e-03 -3.77993656e-07 9.99999026e-01 -8.08969632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters 0.05694483466260633 Centerline is valid? [True, True] Translation: X:127.85, Y:8.43, Z:-0.81 [[ 9.99532573e-01 -3.05135653e-02 1.88626426e-03 1.27849059e+02] [ 3.05135164e-02 9.99534353e-01 5.47014035e-05 8.42793563e+00] [-1.88705506e-03 2.88072092e-06 9.99998220e-01 -8.08141581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters 0.05769860147330976 Centerline is valid? [True, True] Translation: X:127.91, Y:8.42, Z:-0.81 [[ 9.99403140e-01 -3.43985371e-02 3.17863184e-03 1.27911334e+02] [ 3.43984203e-02 9.99408195e-01 9.14386884e-05 8.42108286e+00] [-3.17989607e-03 1.79558016e-05 9.99994944e-01 -8.08572960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66439141799998 meters 0.05866055575985194 Centerline is valid? [True, True] Translation: X:127.97, Y:8.41, Z:-0.81 [[ 9.99169353e-01 -4.06508021e-02 2.84898052e-03 1.27973191e+02] [ 4.06507340e-02 9.99173414e-01 8.18002339e-05 8.41047226e+00] [-2.84995084e-03 3.40808626e-05 9.99995938e-01 -8.10465318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72439141799998 meters 0.0575139828185888 Centerline is valid? [True, True] Translation: X:128.03, Y:8.40, Z:-0.81 [[ 9.98762401e-01 -4.97241752e-02 1.08319995e-03 1.28033427e+02] [ 4.97241708e-02 9.98762988e-01 3.10255043e-05 8.40428756e+00] [-1.08340274e-03 2.28741122e-05 9.99999413e-01 -8.11245514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78439141799998 meters 0.05837814630859398 Centerline is valid? [True, True] Translation: X:128.09, Y:8.39, Z:-0.81 [[ 9.98262200e-01 -5.89144499e-02 1.29118708e-03 1.28094725e+02] [ 5.89144512e-02 9.98263035e-01 3.70772227e-05 8.39149484e+00] [-1.29112871e-03 3.90567882e-05 9.99999166e-01 -8.12459777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844391418 meters 0.05857552401983278 Centerline is valid? [True, True] Translation: X:128.16, Y:8.39, Z:-0.81 [[ 9.97989045e-01 -6.33639482e-02 1.69614837e-03 1.28155429e+02] [ 6.33639569e-02 9.97990484e-01 4.86379134e-05 8.38961501e+00] [-1.69582182e-03 5.89345676e-05 9.99998560e-01 -8.11487502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904391418 meters 0.06167240545226867 Centerline is valid? [True, True] Translation: X:128.22, Y:8.38, Z:-0.81 [[ 9.97677576e-01 -6.80984534e-02 1.43380486e-03 1.28215637e+02] [ 6.80984646e-02 9.97678604e-01 4.10909744e-05 8.37694815e+00] [-1.43327466e-03 5.66443655e-05 9.99998971e-01 -8.12372643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964391418 meters 0.05940011225302437 Centerline is valid? [True, True] Translation: X:128.28, Y:8.38, Z:-0.81 [[ 9.97477595e-01 -7.09637779e-02 1.60949186e-03 1.28276508e+02] [ 7.09637956e-02 9.97478891e-01 4.61944163e-05 8.38259991e+00] [-1.60871228e-03 6.81377558e-05 9.99998704e-01 -8.12620722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters 0.05981453801156771 Centerline is valid? [True, True] Translation: X:128.34, Y:8.38, Z:-0.81 [[ 9.97352341e-01 -7.26913399e-02 2.06828922e-03 1.28337497e+02] [ 7.26913728e-02 9.97354481e-01 5.93184804e-05 8.38462910e+00] [-2.06712946e-03 9.11853577e-05 9.99997859e-01 -8.12777532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters 0.05987007994308534 Centerline is valid? [True, True] Translation: X:128.40, Y:8.38, Z:-0.81 [[ 9.97355729e-01 -7.26166228e-02 2.89413192e-03 1.28398488e+02] [ 7.26166871e-02 9.97359920e-01 8.30112425e-05 8.38153431e+00] [-2.89251917e-03 1.27370534e-04 9.99995809e-01 -8.12416626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters 0.061041412392672426 Centerline is valid? [True, True] Translation: X:128.46, Y:8.38, Z:-0.81 [[ 9.97412626e-01 -7.18549613e-02 2.21745543e-03 1.28459598e+02] [ 7.18549972e-02 9.97415087e-01 6.35804895e-05 8.37897871e+00] [-2.21629207e-03 9.59192705e-05 9.99997539e-01 -8.13143916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters 0.059468509551817476 Centerline is valid? [True, True] Translation: X:128.52, Y:8.39, Z:-0.81 [[ 9.97555786e-01 -6.98403565e-02 2.18574067e-03 1.28520365e+02] [ 6.98403868e-02 9.97558177e-01 6.25513034e-05 8.38901287e+00] [-2.18477208e-03 9.02545589e-05 9.99997609e-01 -8.13774327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters 0.06281751656260427 Centerline is valid? [True, True] Translation: X:128.58, Y:8.38, Z:-0.82 [[ 9.97710451e-01 -6.76084939e-02 1.71710880e-03 1.28580814e+02] [ 6.76085093e-02 9.97711926e-01 4.91099721e-05 8.37896925e+00] [-1.71650018e-03 6.70936342e-05 9.99998525e-01 -8.16024067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters 0.060709197762202405 Centerline is valid? [True, True] Translation: X:128.64, Y:8.39, Z:-0.82 [[ 9.97984535e-01 -6.34324699e-02 1.78582898e-03 1.28641290e+02] [ 6.34324801e-02 9.97986131e-01 5.10312448e-05 8.39039548e+00] [-1.78546959e-03 6.23511678e-05 9.99998404e-01 -8.15708250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38439141799998 meters 0.05877090183243114 Centerline is valid? [True, True] Translation: X:128.70, Y:8.41, Z:-0.82 [[ 9.98311665e-01 -5.80593241e-02 1.71298603e-03 1.28701158e+02] [ 5.80593254e-02 9.98313133e-01 4.90426918e-05 8.40945810e+00] [-1.71294383e-03 5.04949219e-05 9.99998532e-01 -8.15088824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44439141799998 meters 0.05887859602224307 Centerline is valid? [True, True] Translation: X:128.76, Y:8.42, Z:-0.81 [[ 9.98533469e-01 -5.41055817e-02 1.86998703e-03 1.28761787e+02] [ 5.41055763e-02 9.98535219e-01 5.35223600e-05 8.41789515e+00] [-1.87014377e-03 4.77328583e-05 9.99998250e-01 -8.14364926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50439141799998 meters 0.059147293398132225 Centerline is valid? [True, True] Translation: X:128.82, Y:8.42, Z:-0.82 [[ 9.98792509e-01 -4.90446966e-02 2.85339025e-03 1.28821901e+02] [ 4.90446636e-02 9.98796583e-01 8.15758768e-05 8.41889516e+00] [-2.85395730e-03 5.84661905e-05 9.99995926e-01 -8.15564529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56439141799999 meters 0.05762005501887933 Centerline is valid? [True, True] Translation: X:128.88, Y:8.43, Z:-0.82 [[ 9.98947205e-01 -4.56963432e-02 4.04050162e-03 1.28882185e+02] [ 4.56962494e-02 9.98955374e-01 1.15573959e-04 8.42538362e+00] [-4.04156212e-03 6.91834863e-05 9.99991830e-01 -8.15434384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624391418 meters 0.057642237299363325 Centerline is valid? [True, True] Translation: X:128.94, Y:8.43, Z:-0.82 [[ 9.99044889e-01 -4.35026836e-02 4.10192307e-03 1.28944313e+02] [ 4.35025683e-02 9.99053308e-01 1.17363036e-04 8.43112758e+00] [-4.10314542e-03 6.11932469e-05 9.99991580e-01 -8.16080100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684391418 meters 0.058089845446107215 Centerline is valid? [True, True] Translation: X:129.00, Y:8.44, Z:-0.82 [[ 9.99215754e-01 -3.94423575e-02 3.48961611e-03 1.29004823e+02] [ 3.94422499e-02 9.99221847e-01 9.96712615e-05 8.43746736e+00] [-3.49083192e-03 3.80452160e-05 9.99993906e-01 -8.15978656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744391418 meters 0.058271313134425316 Centerline is valid? [True, True] Translation: X:129.07, Y:8.44, Z:-0.82 [[ 9.99261057e-01 -3.82094411e-02 4.16884774e-03 1.29067431e+02] [ 3.82092770e-02 9.99269752e-01 1.19037454e-04 8.43886206e+00] [-4.17035180e-03 4.03391659e-05 9.99991303e-01 -8.16286487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters 0.05735514660450575 Centerline is valid? [True, True] Translation: X:129.13, Y:8.44, Z:-0.82 [[ 9.99378990e-01 -3.49557444e-02 4.44198012e-03 1.29128599e+02] [ 3.49555271e-02 9.99388861e-01 1.26571601e-04 8.44053994e+00] [-4.44368986e-03 2.87787582e-05 9.99990126e-01 -8.16426654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters 0.05809723575649015 Centerline is valid? [True, True] Translation: X:129.19, Y:8.44, Z:-0.82 [[ 9.99395305e-01 -3.43884686e-02 5.14363999e-03 1.29191130e+02] [ 3.43881704e-02 9.99408541e-01 1.46426352e-04 8.44209014e+00] [-5.14563312e-03 3.05425600e-05 9.99986761e-01 -8.16768988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters 0.05772449219043085 Centerline is valid? [True, True] Translation: X:129.25, Y:8.44, Z:-0.82 [[ 9.99297529e-01 -3.72023235e-02 4.52048823e-03 1.29253025e+02] [ 3.72021220e-02 9.99307753e-01 1.28683397e-04 8.44167551e+00] [-4.52214626e-03 3.95787540e-05 9.99989774e-01 -8.17322598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters 0.05864344343498357 Centerline is valid? [True, True] Translation: X:129.31, Y:8.43, Z:-0.82 [[ 9.98979079e-01 -4.50254616e-02 3.67531209e-03 1.29312577e+02] [ 4.50253831e-02 9.98985838e-01 1.04129374e-04 8.43149861e+00] [-3.67627320e-03 6.14592689e-05 9.99993241e-01 -8.18765514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters 0.05971349062539015 Centerline is valid? [True, True] Translation: X:129.37, Y:8.42, Z:-0.82 [[ 9.98370013e-01 -5.69257488e-02 4.09592920e-03 1.29373221e+02] [ 5.69257514e-02 9.98378408e-01 1.16049785e-04 8.42177761e+00] [-4.09589350e-03 1.17303222e-04 9.99991605e-01 -8.19203134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10439141799998 meters 0.05913061198274241 Centerline is valid? [True, True] Translation: X:129.43, Y:8.42, Z:-0.82 [[ 9.97876031e-01 -6.49598605e-02 4.86248748e-03 1.29433892e+02] [ 6.49599597e-02 9.97887862e-01 1.37698529e-04 8.42235995e+00] [-4.86116211e-03 1.78460929e-04 9.99988169e-01 -8.19109690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16439141799998 meters 0.06405161072451027 Centerline is valid? [True, True] Translation: X:129.49, Y:8.40, Z:-0.82 [[ 9.97187875e-01 -7.48516936e-02 3.68327697e-03 1.29493798e+02] [ 7.48518176e-02 9.97194662e-01 1.04362999e-04 8.39854328e+00] [-3.68075588e-03 1.71630459e-04 9.99993211e-01 -8.20355704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22439141799998 meters 0.06114384143985051 Centerline is valid? [True, True] Translation: X:129.55, Y:8.41, Z:-0.82 [[ 9.96812328e-01 -7.96984855e-02 3.65166054e-03 1.29554421e+02] [ 7.96986404e-02 9.96818999e-01 1.03321872e-04 8.40602185e+00] [-3.64827920e-03 1.88039865e-04 9.99993327e-01 -8.20683930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28439141799998 meters 0.060994893563620284 Centerline is valid? [True, True] Translation: X:129.62, Y:8.41, Z:-0.82 [[ 9.96548564e-01 -8.29424505e-02 3.39242561e-03 1.29615353e+02] [ 8.29426029e-02 9.96554321e-01 9.59908441e-05 8.41021338e+00] [-3.38869812e-03 1.85717072e-04 9.99994241e-01 -8.20825596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344391418 meters 0.062259165027959945 Centerline is valid? [True, True] Translation: X:129.68, Y:8.41, Z:-0.82 [[ 9.96586066e-01 -8.25202383e-02 2.57355191e-03 1.29677092e+02] [ 8.25203246e-02 9.96589379e-01 7.28081544e-05 8.40524624e+00] [-2.57078265e-03 1.39810747e-04 9.99996686e-01 -8.22047743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404391418 meters 0.06111436303162264 Centerline is valid? [True, True] Translation: X:129.74, Y:8.42, Z:-0.82 [[ 9.96759785e-01 -8.03945660e-02 2.57760460e-03 1.29737570e+02] [ 8.03946457e-02 9.96763109e-01 7.28314039e-05 8.41778990e+00] [-2.57511642e-03 1.34630194e-04 9.99996675e-01 -8.21851934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464391418 meters 0.05793538035884846 Centerline is valid? [True, True] Translation: X:129.80, Y:8.43, Z:-0.82 [[ 9.97019614e-01 -7.71345855e-02 1.46432926e-03 1.29796626e+02] [ 7.71346079e-02 9.97020687e-01 4.12805402e-05 8.42896057e+00] [-1.46315073e-03 7.17929553e-05 9.99998927e-01 -8.22551101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters 0.06297027602304177 Centerline is valid? [True, True] Translation: X:129.86, Y:8.42, Z:-0.82 [[ 9.97328882e-01 -7.30347718e-02 1.01128589e-03 1.29856200e+02] [ 7.30347803e-02 9.97329394e-01 2.85712029e-05 8.42073892e+00] [-1.01067184e-03 4.53641572e-05 9.99999488e-01 -8.24495643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters 0.061243493774556436 Centerline is valid? [True, True] Translation: X:129.92, Y:8.43, Z:-0.82 [[ 9.97580394e-01 -6.95192157e-02 6.60060236e-04 1.29916843e+02] [ 6.95192186e-02 9.97580612e-01 1.86260296e-05 8.42759785e+00] [-6.59758162e-04 2.73059099e-05 9.99999782e-01 -8.24597140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters 0.05888723633262377 Centerline is valid? [True, True] Translation: X:129.98, Y:8.45, Z:-0.82 [[ 9.98036566e-01 -6.26286939e-02 8.12532030e-04 1.29976772e+02] [ 6.26286960e-02 9.98036896e-01 2.29288034e-05 8.44503457e+00] [-8.12372947e-04 2.80040373e-05 9.99999670e-01 -8.23336888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters 0.058949430608922965 Centerline is valid? [True, True] Translation: X:130.04, Y:8.45, Z:-0.82 [[ 9.98365812e-01 -5.71431905e-02 6.00626901e-04 1.30035988e+02] [ 5.71431907e-02 9.98365993e-01 1.69034673e-05 8.45143209e+00] [-6.00611391e-04 1.74458938e-05 9.99999819e-01 -8.23321962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters 0.058661686164340185 Centerline is valid? [True, True] Translation: X:130.10, Y:8.46, Z:-0.82 [[ 9.98746896e-01 -5.00298709e-02 1.28468168e-03 1.30096525e+02] [ 5.00298657e-02 9.98747722e-01 3.62411151e-05 8.46268776e+00] [-1.28488604e-03 2.80767506e-05 9.99999174e-01 -8.22175035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters 0.05770747915592948 Centerline is valid? [True, True] Translation: X:130.16, Y:8.47, Z:-0.82 [[ 9.98965650e-01 -4.54140504e-02 2.27896946e-03 1.30156012e+02] [ 4.54140217e-02 9.98968249e-01 6.43475590e-05 8.46956466e+00] [-2.27954042e-03 3.92161676e-05 9.99997401e-01 -8.21333590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88439141799998 meters 0.05839621494733045 Centerline is valid? [True, True] Translation: X:130.22, Y:8.48, Z:-0.82 [[ 9.99066571e-01 -4.31707526e-02 1.50770908e-03 1.30216730e+02] [ 4.31707373e-02 9.99067708e-01 4.26747868e-05 8.47533990e+00] [-1.50814576e-03 2.24539598e-05 9.99998862e-01 -8.21608085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94439141799998 meters 0.058157159507937234 Centerline is valid? [True, True] Translation: X:130.28, Y:8.48, Z:-0.82 [[ 9.99109664e-01 -4.21785540e-02 9.21762498e-04 1.30278859e+02] [ 4.21785477e-02 9.99110089e-01 2.62030486e-05 8.47753743e+00] [-9.22047418e-04 1.26988844e-05 9.99999575e-01 -8.22495319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00439141799998 meters 0.05899622245168495 Centerline is valid? [True, True] Translation: X:130.34, Y:8.48, Z:-0.82 [[ 9.99065002e-01 -4.32332305e-02 9.61239096e-05 1.30339770e+02] [ 4.32332304e-02 9.99065007e-01 2.84638510e-06 8.47705332e+00] [-9.61570929e-05 1.31202340e-06 9.99999995e-01 -8.23513948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06439141799999 meters 0.05805624886097378 Centerline is valid? [True, True] Translation: X:130.40, Y:8.48, Z:-0.82 [[ 9.98905769e-01 -4.67667622e-02 3.66990721e-04 1.30400493e+02] [ 4.67667615e-02 9.98905836e-01 1.04151952e-05 8.47719115e+00] [-3.67076258e-04 6.75916894e-06 9.99999933e-01 -8.22909459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124391418 meters 0.058173307878177254 Centerline is valid? [True, True] Translation: X:130.46, Y:8.48, Z:-0.82 [[ 9.98787521e-01 -4.92215324e-02 8.53036582e-04 1.30462036e+02] [ 4.92215296e-02 9.98787886e-01 2.42695966e-05 8.48106041e+00] [-8.53197191e-04 1.77475951e-05 9.99999636e-01 -8.22137925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184391418 meters 0.05826008357808861 Centerline is valid? [True, True] Translation: X:130.52, Y:8.48, Z:-0.82 [[ 9.98725508e-01 -5.04713732e-02 -2.78759917e-07 1.30523920e+02] [ 5.04713732e-02 9.98725508e-01 1.82712969e-07 8.48067039e+00] [ 2.69182804e-07 -1.96549496e-07 1.00000000e+00 -8.23528027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244391418 meters 0.05804372761175078 Centerline is valid? [True, True] Translation: X:130.58, Y:8.48, Z:-0.82 [[ 9.98857232e-01 -4.77931045e-02 -2.23414551e-04 1.30584143e+02] [ 4.77931043e-02 9.98857257e-01 -6.16738189e-06 8.47942284e+00] [ 2.23454004e-04 -4.51734093e-06 9.99999975e-01 -8.24937845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters 0.05898666907155232 Centerline is valid? [True, True] Translation: X:130.64, Y:8.49, Z:-0.82 [[ 9.99090899e-01 -4.26304174e-02 1.50759478e-04 1.30644331e+02] [ 4.26304172e-02 9.99090911e-01 4.22657830e-06 8.48720651e+00] [-1.50802605e-04 2.20420354e-06 9.99999989e-01 -8.23258629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters 0.058122950974082044 Centerline is valid? [True, True] Translation: X:130.70, Y:8.49, Z:-0.82 [[ 9.99233202e-01 -3.91528894e-02 -2.43539732e-04 1.30704723e+02] [ 3.91528889e-02 9.99233232e-01 -6.77603918e-06 8.49062716e+00] [ 2.43618295e-04 -2.76444073e-06 9.99999970e-01 -8.22575568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters 0.05791212166892209 Centerline is valid? [True, True] Translation: X:130.77, Y:8.49, Z:-0.82 [[ 9.99309519e-01 -3.71506757e-02 -5.59379900e-04 1.30766686e+02] [ 3.71506729e-02 9.99309675e-01 -1.53448914e-05 8.49082840e+00] [ 5.59563820e-04 -5.44704370e-06 9.99999843e-01 -8.24409385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters 0.05897497859882721 Centerline is valid? [True, True] Translation: X:130.83, Y:8.49, Z:-0.82 [[ 9.99255526e-01 -3.85173578e-02 -2.19238884e-03 1.30827359e+02] [ 3.85173169e-02 9.99257931e-01 -6.08520193e-05 8.49241786e+00] [ 2.19310580e-03 -2.36382193e-05 9.99997595e-01 -8.24387691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters 0.05865726879890787 Centerline is valid? [True, True] Translation: X:130.89, Y:8.49, Z:-0.83 [[ 9.99108570e-01 -4.21434199e-02 -2.44907165e-03 1.30888953e+02] [ 4.21433796e-02 9.99111571e-01 -6.80909008e-05 8.49139207e+00] [ 2.44976540e-03 -3.51819535e-05 9.99996999e-01 -8.25536418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60439141799998 meters 0.05878244840845157 Centerline is valid? [True, True] Translation: X:130.95, Y:8.48, Z:-0.83 [[ 9.98735516e-01 -5.01796458e-02 -3.06152859e-03 1.30948893e+02] [ 5.01796196e-02 9.98740206e-01 -8.54314889e-05 8.48494814e+00] [ 3.06195862e-03 -6.83028780e-05 9.99995310e-01 -8.26879998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66439141799998 meters 0.058452920405345866 Centerline is valid? [True, True] Translation: X:131.01, Y:8.49, Z:-0.83 [[ 9.98563234e-01 -5.35171969e-02 -2.71615182e-03 1.31009516e+02] [ 5.35171891e-02 9.98566926e-01 -7.56217212e-05 8.48641263e+00] [ 2.71630643e-03 -6.98477398e-05 9.99996308e-01 -8.26125740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72439141799998 meters 0.05771626547225413 Centerline is valid? [True, True] Translation: X:131.07, Y:8.49, Z:-0.82 [[ 9.98195019e-01 -6.00025899e-02 -2.52835627e-03 1.31070220e+02] [ 6.00026040e-02 9.98198218e-01 -7.03502060e-05 8.49433531e+00] [ 2.52802192e-03 -8.14847349e-05 9.99996801e-01 -8.23295843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78439141799998 meters 0.06308971723687293 Centerline is valid? [True, True] Translation: X:131.13, Y:8.48, Z:-0.83 [[ 9.97491397e-01 -7.07516530e-02 -2.26188168e-03 1.31130604e+02] [ 7.07516917e-02 9.97493957e-01 -6.29956751e-05 8.47504514e+00] [ 2.26067036e-03 -9.71943114e-05 9.99997440e-01 -8.27271826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844391418 meters 0.05884049874746772 Centerline is valid? [True, True] Translation: X:131.19, Y:8.49, Z:-0.82 [[ 9.96643232e-01 -8.18601925e-02 -1.08525741e-03 1.31191067e+02] [ 8.18602080e-02 9.96643821e-01 -3.02182050e-05 8.49248553e+00] [ 1.08408876e-03 -5.87226276e-05 9.99999411e-01 -8.23630917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904391418 meters 0.058829438319213403 Centerline is valid? [True, True] Translation: X:131.25, Y:8.50, Z:-0.82 [[ 9.95948794e-01 -8.99189129e-02 -7.67618462e-04 1.31250509e+02] [ 8.99189231e-02 9.95949088e-01 -2.12789149e-05 8.49611086e+00] [ 7.66422284e-04 -4.78307158e-05 9.99999705e-01 -8.22867543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964391418 meters 0.0597368410243867 Centerline is valid? [True, True] Translation: X:131.31, Y:8.50, Z:-0.82 [[ 9.95604719e-01 -9.36510889e-02 -8.47161204e-04 1.31310915e+02] [ 9.36511026e-02 9.95605078e-01 -2.35758768e-05 8.50074827e+00] [ 8.45645902e-04 -5.58653265e-05 9.99999641e-01 -8.22958673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters 0.0661313025550142 Centerline is valid? [True, True] Translation: X:131.37, Y:8.49, Z:-0.82 [[ 9.95368169e-01 -9.61323450e-02 -8.83586096e-04 1.31371326e+02] [ 9.61323610e-02 9.95368559e-01 -2.44713551e-05 8.48850731e+00] [ 8.81846308e-04 -6.05832096e-05 9.99999609e-01 -8.24535415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters 0.058093570231049434 Centerline is valid? [True, True] Translation: X:131.43, Y:8.52, Z:-0.82 [[ 9.95375882e-01 -9.60528462e-02 -8.39607901e-04 1.31432561e+02] [ 9.60528607e-02 9.95376234e-01 -2.30864805e-05 8.52339432e+00] [ 8.37943273e-04 -5.76670150e-05 9.99999647e-01 -8.23032555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters 0.06323409745607515 Centerline is valid? [True, True] Translation: X:131.49, Y:8.51, Z:-0.83 [[ 9.95607853e-01 -9.36177614e-02 -8.46702950e-04 1.31492592e+02] [ 9.36177751e-02 9.95608212e-01 -2.35806638e-05 8.51206449e+00] [ 8.45191979e-04 -5.57893522e-05 9.99999641e-01 -8.25842050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters 0.0565315011354453 Centerline is valid? [True, True] Translation: X:131.55, Y:8.55, Z:-0.82 [[ 9.95939780e-01 -9.00194941e-02 -6.67147652e-04 1.31552415e+02] [ 9.00195019e-02 9.95940003e-01 -1.85055534e-05 8.54815063e+00] [ 6.66104895e-04 -4.16258825e-05 9.99999777e-01 -8.23467757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters 0.06035599966603054 Centerline is valid? [True, True] Translation: X:131.61, Y:8.54, Z:-0.83 [[ 9.96638880e-01 -8.19057667e-02 -1.54522108e-03 1.31612291e+02] [ 8.19057983e-02 9.96640075e-01 -4.28930049e-05 8.54184371e+00] [ 1.54354243e-03 -8.38137295e-05 9.99998805e-01 -8.26139570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters 0.0570904327308724 Centerline is valid? [True, True] Translation: X:131.67, Y:8.57, Z:-0.82 [[ 9.97364199e-01 -7.25575878e-02 -2.27518206e-04 1.31672569e+02] [ 7.25575883e-02 9.97364225e-01 -6.29314273e-06 8.56877940e+00] [ 2.27375134e-04 -1.02316171e-05 9.99999974e-01 -8.23636065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38439141799998 meters 0.056720160422706986 Centerline is valid? [True, True] Translation: X:131.73, Y:8.58, Z:-0.82 [[ 9.98028260e-01 -6.27642684e-02 4.88508388e-04 1.31731771e+02] [ 6.27642693e-02 9.98028380e-01 1.35217665e-05 8.57875582e+00] [-4.88393919e-04 1.71657669e-05 9.99999881e-01 -8.24235789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44439141799998 meters 0.05764681144970465 Centerline is valid? [True, True] Translation: X:131.79, Y:8.59, Z:-0.83 [[ 9.98579418e-01 -5.32836118e-02 5.39733584e-05 1.31790952e+02] [ 5.32836118e-02 9.98579419e-01 1.44845586e-06 8.58722368e+00] [-5.39738639e-05 1.42949727e-06 9.99999999e-01 -8.25527400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50439141799998 meters 0.057470586375092975 Centerline is valid? [True, True] Translation: X:131.85, Y:8.59, Z:-0.83 [[ 9.98833352e-01 -4.82901047e-02 -4.08433689e-05 1.31851643e+02] [ 4.82901047e-02 9.98833352e-01 -1.07866032e-06 8.59365935e+00] [ 4.08478077e-05 -8.94928660e-07 9.99999999e-01 -8.26574540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56439141799999 meters 0.05633610183272383 Centerline is valid? [True, True] Translation: X:131.91, Y:8.61, Z:-0.83 [[ 9.99085325e-01 -4.27545661e-02 7.48177360e-04 1.31912511e+02] [ 4.27545624e-02 9.99085605e-01 2.08294609e-05 8.61038282e+00] [-7.48383786e-04 1.11775869e-05 9.99999720e-01 -8.25033425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624391418 meters 0.05574941920624699 Centerline is valid? [True, True] Translation: X:131.97, Y:8.61, Z:-0.83 [[ 9.99187336e-01 -4.03016954e-02 -6.63842560e-04 1.31973334e+02] [ 4.03016923e-02 9.99187557e-01 -1.79936420e-05 8.61331143e+00] [ 6.64028400e-04 -8.77495942e-06 9.99999779e-01 -8.27060377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684391418 meters 0.05673373589442453 Centerline is valid? [True, True] Translation: X:132.04, Y:8.62, Z:-0.83 [[ 9.99143731e-01 -4.13641922e-02 -8.99230623e-04 1.32035845e+02] [ 4.13641867e-02 9.99144135e-01 -2.47015161e-05 8.61646004e+00] [ 8.99482762e-04 -1.25155784e-05 9.99999595e-01 -8.27020070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744391418 meters 0.05671456818681201 Centerline is valid? [True, True] Translation: X:132.10, Y:8.62, Z:-0.83 [[ 9.98946802e-01 -4.58752370e-02 -8.65648694e-04 1.32096523e+02] [ 4.58752335e-02 9.98947177e-01 -2.39054484e-05 8.61948120e+00] [ 8.65833987e-04 -1.58315647e-05 9.99999625e-01 -8.25878443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters 0.05729758965375412 Centerline is valid? [True, True] Translation: X:132.16, Y:8.62, Z:-0.83 [[ 9.98685233e-01 -5.12418470e-02 -1.44193508e-03 1.32156900e+02] [ 5.12418429e-02 9.98686273e-01 -3.98303441e-05 8.61631258e+00] [ 1.44208175e-03 -3.41094343e-05 9.99998960e-01 -8.27335089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters 0.05725889386164623 Centerline is valid? [True, True] Translation: X:132.22, Y:8.62, Z:-0.83 [[ 9.98113345e-01 -6.13816295e-02 -1.43055444e-03 1.32217705e+02] [ 6.13816358e-02 9.98114369e-01 -3.95478235e-05 8.61903540e+00] [ 1.43028445e-03 -4.83365609e-05 9.99998976e-01 -8.25848347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters 0.05665569756284265 Centerline is valid? [True, True] Translation: X:132.28, Y:8.62, Z:-0.83 [[ 9.97564266e-01 -6.97360684e-02 -1.55403651e-03 1.32278256e+02] [ 6.97360860e-02 9.97565475e-01 -4.29451102e-05 8.61886861e+00] [ 1.55324799e-03 -6.55319165e-05 9.99998792e-01 -8.25514314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters 0.060619355609408065 Centerline is valid? [True, True] Translation: X:132.34, Y:8.61, Z:-0.83 [[ 9.97315147e-01 -7.31940187e-02 -2.26573952e-03 1.32338502e+02] [ 7.31940651e-02 9.97317715e-01 -6.25090127e-05 8.60563229e+00] [ 2.26423744e-03 -1.03497501e-04 9.99997431e-01 -8.28353856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters 0.057747007095079114 Centerline is valid? [True, True] Translation: X:132.40, Y:8.62, Z:-0.83 [[ 9.97214310e-01 -7.45719994e-02 -1.62403910e-03 1.32399205e+02] [ 7.45720252e-02 9.97215629e-01 -4.47600411e-05 8.61865486e+00] [ 1.62285502e-03 -7.64725315e-05 9.99998680e-01 -8.27221987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10439141799998 meters 0.05896977044265127 Centerline is valid? [True, True] Translation: X:132.46, Y:8.61, Z:-0.83 [[ 9.97317619e-01 -7.31709376e-02 -1.89240881e-03 1.32459689e+02] [ 7.31709700e-02 9.97319410e-01 -5.22043390e-05 8.61489149e+00] [ 1.89115588e-03 -8.64050809e-05 9.99998208e-01 -8.28219616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16439141799998 meters 0.05766445788924048 Centerline is valid? [True, True] Translation: X:132.52, Y:8.63, Z:-0.83 [[ 9.97493230e-01 -7.07348574e-02 -1.95848054e-03 1.32519957e+02] [ 7.07348873e-02 9.97495149e-01 -5.40476847e-05 8.62582888e+00] [ 1.95739790e-03 -8.46207010e-05 9.99998081e-01 -8.26448551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22439141799998 meters 0.057855142011468345 Centerline is valid? [True, True] Translation: X:132.58, Y:8.63, Z:-0.83 [[ 9.97651522e-01 -6.84426542e-02 -2.65411347e-03 1.32579841e+02] [ 6.84427010e-02 9.97655046e-01 -7.32742634e-05 8.62536900e+00] [ 2.65290478e-03 -1.08552514e-04 9.99996475e-01 -8.27709833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28439141799998 meters 0.056828352671238314 Centerline is valid? [True, True] Translation: X:132.64, Y:8.64, Z:-0.83 [[ 9.97775963e-01 -6.65776210e-02 -3.24782509e-03 1.32641240e+02] [ 6.65776823e-02 9.97781241e-01 -8.93761105e-05 8.63610144e+00] [ 3.24656940e-03 -1.27055332e-04 9.99994722e-01 -8.26881375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344391418 meters 0.0577812265542869 Centerline is valid? [True, True] Translation: X:132.70, Y:8.64, Z:-0.83 [[ 9.97973842e-01 -6.35282031e-02 -3.51814453e-03 1.32700842e+02] [ 6.35282551e-02 9.97980036e-01 -9.70647146e-05 8.63751424e+00] [ 3.51720435e-03 -1.26633537e-04 9.99993807e-01 -8.27666796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404391418 meters 0.05625805347648928 Centerline is valid? [True, True] Translation: X:132.76, Y:8.65, Z:-0.83 [[ 9.98123948e-01 -6.11732543e-02 -2.53320433e-03 1.32761061e+02] [ 6.11732737e-02 9.98127159e-01 -6.98694255e-05 8.64620705e+00] [ 2.53273418e-03 -8.52260549e-05 9.99996789e-01 -8.26521727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464391418 meters 0.05642944032203632 Centerline is valid? [True, True] Translation: X:132.82, Y:8.65, Z:-0.83 [[ 9.98180412e-01 -6.02852403e-02 -1.24731109e-03 1.32822878e+02] [ 6.02852446e-02 9.98181190e-01 -3.42300205e-05 8.64999054e+00] [ 1.24710603e-03 -4.10267183e-05 9.99999222e-01 -8.26140157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters 0.05823057480942213 Centerline is valid? [True, True] Translation: X:132.88, Y:8.65, Z:-0.83 [[ 9.98240932e-01 -5.92871234e-02 -2.82226987e-04 1.32884380e+02] [ 5.92871237e-02 9.98240971e-01 -7.38390937e-06 8.64676637e+00] [ 2.82168313e-04 -9.36150574e-06 9.99999960e-01 -8.27714851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters 0.05708713411690359 Centerline is valid? [True, True] Translation: X:132.95, Y:8.65, Z:-0.83 [[ 9.98264179e-01 -5.88950365e-02 -6.64768282e-05 1.32946097e+02] [ 5.88950366e-02 9.98264181e-01 -1.59115960e-06 8.65073076e+00] [ 6.64551478e-05 -2.32675760e-06 9.99999998e-01 -8.27528311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters 0.05691094185870648 Centerline is valid? [True, True] Translation: X:133.01, Y:8.65, Z:-0.83 [[ 9.98413540e-01 -5.63046747e-02 4.32503353e-04 1.33006119e+02] [ 5.63046748e-02 9.98413633e-01 1.18749146e-05 8.65040308e+00] [-4.32485857e-04 1.24958851e-05 9.99999906e-01 -8.28848527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters 0.056635771081666626 Centerline is valid? [True, True] Translation: X:133.07, Y:8.66, Z:-0.83 [[ 9.98485034e-01 -5.50103791e-02 1.22277145e-03 1.33067177e+02] [ 5.50103791e-02 9.98485782e-01 3.36450308e-05 8.65569756e+00] [-1.22277073e-03 3.36710613e-05 9.99999252e-01 -8.28624017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters 0.056521894835690145 Centerline is valid? [True, True] Translation: X:133.13, Y:8.66, Z:-0.83 [[ 9.98549188e-01 -5.37770190e-02 2.74788488e-03 1.33128535e+02] [ 5.37770149e-02 9.98552967e-01 7.54546667e-05 8.65721751e+00] [-2.74796632e-03 7.24278497e-05 9.99996222e-01 -8.29262229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters 0.05732061658977812 Centerline is valid? [True, True] Translation: X:133.19, Y:8.66, Z:-0.83 [[ 9.98706502e-01 -5.07202890e-02 3.57417196e-03 1.33189539e+02] [ 5.07202628e-02 9.98712894e-01 9.80352792e-05 8.65688190e+00] [-3.57454400e-03 8.33744704e-05 9.99993608e-01 -8.30747712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88439141799998 meters 0.05661368612685246 Centerline is valid? [True, True] Translation: X:133.25, Y:8.67, Z:-0.83 [[ 9.98886720e-01 -4.69836751e-02 4.22557299e-03 1.33249672e+02] [ 4.69836051e-02 9.98895654e-01 1.15872813e-04 8.66675481e+00] [-4.22635062e-03 8.27888382e-05 9.99991066e-01 -8.30709020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94439141799998 meters 0.05603666266281847 Centerline is valid? [True, True] Translation: X:133.31, Y:8.67, Z:-0.83 [[ 9.99199074e-01 -3.97543755e-02 4.56072971e-03 1.33309213e+02] [ 3.97542188e-02 9.99209481e-01 1.25055710e-04 8.66774972e+00] [-4.56209588e-03 5.63526966e-05 9.99989592e-01 -8.31707098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00439141799998 meters 0.055566964985119864 Centerline is valid? [True, True] Translation: X:133.37, Y:8.67, Z:-0.83 [[ 9.99369338e-01 -3.51554681e-02 5.00184431e-03 1.33370314e+02] [ 3.51552216e-02 9.99381855e-01 1.37220960e-04 8.66960237e+00] [-5.00357651e-03 3.87065254e-05 9.99987481e-01 -8.32568044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06439141799999 meters 0.05602069959894824 Centerline is valid? [True, True] Translation: X:133.43, Y:8.67, Z:-0.83 [[ 9.99405621e-01 -3.41332412e-02 4.82981616e-03 1.33431400e+02] [ 3.41330000e-02 9.99417291e-01 1.32377258e-04 8.66801080e+00] [-4.83152025e-03 3.25575394e-05 9.99988328e-01 -8.33866415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124391418 meters 0.05652742898088079 Centerline is valid? [True, True] Translation: X:133.49, Y:8.66, Z:-0.84 [[ 9.99351673e-01 -3.57947207e-02 3.86924520e-03 1.33492936e+02] [ 3.57945787e-02 9.99359163e-01 1.05965375e-04 8.66262297e+00] [-3.87055864e-03 3.26013268e-05 9.99992509e-01 -8.35415695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184391418 meters 0.056141777725756126 Centerline is valid? [True, True] Translation: X:133.56, Y:8.66, Z:-0.84 [[ 9.99177273e-01 -4.02484111e-02 4.98419484e-03 1.33555480e+02] [ 4.02482347e-02 9.99189702e-01 1.35722869e-04 8.65644078e+00] [-4.98561878e-03 6.49938374e-05 9.99987570e-01 -8.35521851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244391418 meters 0.05678474310814534 Centerline is valid? [True, True] Translation: X:133.62, Y:8.65, Z:-0.84 [[ 9.98932131e-01 -4.59941811e-02 4.37402561e-03 1.33615608e+02] [ 4.59941010e-02 9.98941704e-01 1.18939309e-04 8.64900824e+00] [-4.37486711e-03 8.23670786e-05 9.99990427e-01 -8.35879274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters 0.057149379963001845 Centerline is valid? [True, True] Translation: X:133.68, Y:8.64, Z:-0.84 [[ 9.98692003e-01 -5.09161450e-02 4.67226298e-03 1.33676472e+02] [ 5.09161074e-02 9.98702926e-01 1.27062324e-04 8.64160229e+00] [-4.67267223e-03 1.10997317e-04 9.99989077e-01 -8.36944875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters 0.05619211326664148 Centerline is valid? [True, True] Translation: X:133.74, Y:8.64, Z:-0.84 [[ 9.98324236e-01 -5.75872536e-02 5.69458226e-03 1.33736989e+02] [ 5.75873066e-02 9.98340462e-01 1.54793394e-04 8.64259572e+00] [-5.69404601e-03 1.73401658e-04 9.99983774e-01 -8.37455498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters 0.05884919056345811 Centerline is valid? [True, True] Translation: X:133.80, Y:8.63, Z:-0.84 [[ 9.98018994e-01 -6.26618802e-02 5.61922027e-03 1.33797228e+02] [ 6.26620123e-02 9.98034793e-01 1.52715870e-04 8.62616469e+00] [-5.61774681e-03 1.99698311e-04 9.99984200e-01 -8.38182025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters 0.05707601222931402 Centerline is valid? [True, True] Translation: X:133.86, Y:8.63, Z:-0.84 [[ 9.97820210e-01 -6.58065826e-02 4.93168271e-03 1.33857815e+02] [ 6.58067229e-02 9.97832379e-01 1.34006449e-04 8.62937104e+00] [-4.92981120e-03 1.90823534e-04 9.99987830e-01 -8.39188053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters 0.05694640146886169 Centerline is valid? [True, True] Translation: X:133.92, Y:8.63, Z:-0.84 [[ 9.97374812e-01 -7.21719669e-02 5.88989245e-03 1.33918043e+02] [ 7.21722777e-02 9.97392168e-01 1.60034452e-04 8.63466904e+00] [-5.88608260e-03 2.65472622e-04 9.99982642e-01 -8.39667284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60439141799998 meters 0.05662973581143224 Centerline is valid? [True, True] Translation: X:133.98, Y:8.63, Z:-0.84 [[ 9.97002101e-01 -7.71361502e-02 6.06829597e-03 1.33979074e+02] [ 7.71365720e-02 9.97020522e-01 1.64856221e-04 8.63290416e+00] [-6.06293199e-03 3.03725550e-04 9.99981574e-01 -8.40256766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66439141799998 meters 0.0646382596549256 Centerline is valid? [True, True] Translation: X:134.04, Y:8.61, Z:-0.84 [[ 9.96541757e-01 -8.29769771e-02 4.39856088e-03 1.34039084e+02] [ 8.29772554e-02 9.96551434e-01 1.19493833e-04 8.60954609e+00] [-4.39330739e-03 2.45899915e-04 9.99990319e-01 -8.41808820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72439141799998 meters 0.06563577790158094 Centerline is valid? [True, True] Translation: X:134.10, Y:8.61, Z:-0.84 [[ 9.96155395e-01 -8.74949750e-02 4.36565580e-03 1.34099755e+02] [ 8.74952925e-02 9.96164926e-01 1.18578111e-04 8.60680768e+00] [-4.35928817e-03 2.63852106e-04 9.99990463e-01 -8.42425762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78439141799998 meters 0.05471991208412111 Centerline is valid? [True, True] Translation: X:134.16, Y:8.65, Z:-0.84 [[ 9.95926682e-01 -9.00429339e-02 4.72375041e-03 1.34159174e+02] [ 9.00433342e-02 9.95937840e-01 1.28299278e-04 8.64691419e+00] [-4.71611422e-03 2.97565562e-04 9.99988835e-01 -8.42949720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844391418 meters 0.05418122426508187 Centerline is valid? [True, True] Translation: X:134.22, Y:8.65, Z:-0.84 [[ 9.95962932e-01 -8.96619560e-02 4.30949610e-03 1.34221079e+02] [ 8.96622850e-02 9.95972219e-01 1.17185741e-04 8.65481430e+00] [-4.30264550e-03 2.69686614e-04 9.99990707e-01 -8.43382570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904391418 meters 0.06245506638786682 Centerline is valid? [True, True] Translation: X:134.28, Y:8.63, Z:-0.84 [[ 9.96503475e-01 -8.34127755e-02 4.80971222e-03 1.34281949e+02] [ 8.34131167e-02 9.96515045e-01 1.29972900e-04 8.62785382e+00] [-4.80379199e-03 2.71674640e-04 9.99988425e-01 -8.42986735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964391418 meters 0.05808073102752683 Centerline is valid? [True, True] Translation: X:134.34, Y:8.64, Z:-0.84 [[ 9.97040487e-01 -7.66472262e-02 5.95565411e-03 1.34342150e+02] [ 7.66476290e-02 9.97058231e-01 1.60917482e-04 8.64145105e+00] [-5.95046783e-03 2.96045523e-04 9.99982252e-01 -8.42930368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters 0.05631806720046524 Centerline is valid? [True, True] Translation: X:134.40, Y:8.66, Z:-0.84 [[ 9.97934390e-01 -6.37756011e-02 7.72185106e-03 1.34402493e+02] [ 6.37758933e-02 9.97964224e-01 2.08629750e-04 8.65767300e+00] [-7.71943658e-03 2.84269147e-04 9.99970164e-01 -8.43206967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters 0.05810195210589609 Centerline is valid? [True, True] Translation: X:134.46, Y:8.66, Z:-0.84 [[ 9.98523254e-01 -5.38120956e-02 7.45446265e-03 1.34462538e+02] [ 5.38120904e-02 9.98551059e-01 2.01425580e-04 8.65882297e+00] [-7.45450071e-03 2.00012093e-04 9.99972195e-01 -8.42899799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters 0.05647049270698405 Centerline is valid? [True, True] Translation: X:134.52, Y:8.68, Z:-0.84 [[ 9.99186903e-01 -3.97603297e-02 6.68205663e-03 1.34522518e+02] [ 3.97600113e-02 9.99209242e-01 1.80530520e-04 8.67579804e+00] [-6.68395070e-03 8.52949166e-05 9.99977659e-01 -8.44078948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters 0.05585884537181127 Centerline is valid? [True, True] Translation: X:134.58, Y:8.69, Z:-0.85 [[ 9.99569968e-01 -2.88927577e-02 5.00882827e-03 1.34583241e+02] [ 2.88924423e-02 9.99582517e-01 1.35332547e-04 8.68815486e+00] [-5.01064730e-03 9.44293233e-06 9.99987447e-01 -8.45673497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters 0.055817200795403546 Centerline is valid? [True, True] Translation: X:134.65, Y:8.69, Z:-0.85 [[ 9.99742663e-01 -2.20560870e-02 5.30436378e-03 1.34645680e+02] [ 2.20556371e-02 9.99756735e-01 1.43317451e-04 8.69487648e+00] [-5.30623443e-03 -2.62894476e-05 9.99985921e-01 -8.46434317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters 0.05603736245700915 Centerline is valid? [True, True] Translation: X:134.71, Y:8.70, Z:-0.85 [[ 9.99780834e-01 -2.01777157e-02 5.58057570e-03 1.34706246e+02] [ 2.01771899e-02 9.99796408e-01 1.50516831e-04 8.69993447e+00] [-5.58247663e-03 -3.78835079e-05 9.99984417e-01 -8.46417328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38439141799998 meters 0.05563117588956291 Centerline is valid? [True, True] Translation: X:134.77, Y:8.70, Z:-0.85 [[ 9.99722898e-01 -2.29225782e-02 5.35566345e-03 1.34767866e+02] [ 2.29221335e-02 9.99737243e-01 1.44419895e-04 8.69879370e+00] [-5.35756668e-03 -2.16166432e-05 9.99985648e-01 -8.46625489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44439141799998 meters 0.05624406657734018 Centerline is valid? [True, True] Translation: X:134.83, Y:8.70, Z:-0.85 [[ 9.99660310e-01 -2.54827361e-02 5.46769270e-03 1.34829697e+02] [ 2.54823142e-02 9.99675262e-01 1.46824672e-04 8.69890784e+00] [-5.46965863e-03 -7.44533383e-06 9.99985041e-01 -8.46696409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50439141799998 meters 0.05551124455359574 Centerline is valid? [True, True] Translation: X:134.89, Y:8.69, Z:-0.85 [[ 9.99255071e-01 -3.81752545e-02 5.65266752e-03 1.34889639e+02] [ 3.81750079e-02 9.99271057e-01 1.51555393e-04 8.68884320e+00] [-5.65433272e-03 6.43481328e-05 9.99984012e-01 -8.45835417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56439141799999 meters 0.05744146861725665 Centerline is valid? [True, True] Translation: X:134.95, Y:8.68, Z:-0.85 [[ 9.98476194e-01 -5.48698847e-02 5.88094778e-03 1.34950919e+02] [ 5.48699084e-02 9.98493499e-01 1.57431817e-04 8.67698663e+00] [-5.88072640e-03 1.65495145e-04 9.99982695e-01 -8.45640017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624391418 meters 0.06508723317783865 Centerline is valid? [True, True] Translation: X:135.01, Y:8.65, Z:-0.85 [[ 9.97850614e-01 -6.53273664e-02 5.14658885e-03 1.35011112e+02] [ 6.53275236e-02 9.97863866e-01 1.37737161e-04 8.65172262e+00] [-5.14459305e-03 1.98772793e-04 9.99986747e-01 -8.47067488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684391418 meters 0.0606735526823667 Centerline is valid? [True, True] Translation: X:135.07, Y:8.66, Z:-0.85 [[ 9.96951764e-01 -7.78668473e-02 4.89219918e-03 1.35071326e+02] [ 7.78671401e-02 9.96963736e-01 1.30888638e-04 8.65983313e+00] [-4.88753706e-03 2.50451900e-04 9.99988025e-01 -8.47656673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744391418 meters 0.0554692083596102 Centerline is valid? [True, True] Translation: X:135.13, Y:8.68, Z:-0.85 [[ 9.96480552e-01 -8.36779889e-02 4.95008570e-03 1.35131462e+02] [ 8.36783602e-02 9.96492807e-01 1.32421928e-04 8.67578309e+00] [-4.94380559e-03 2.82259178e-04 9.99987739e-01 -8.48429721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters 0.06215131498382495 Centerline is valid? [True, True] Translation: X:135.19, Y:8.65, Z:-0.85 [[ 9.96036292e-01 -8.88910777e-02 3.17507347e-03 1.35191273e+02] [ 8.88912569e-02 9.96041333e-01 8.49151861e-05 8.65382736e+00] [-3.17005261e-03 1.97657664e-04 9.99994956e-01 -8.50578870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters 0.0596927733998936 Centerline is valid? [True, True] Translation: X:135.25, Y:8.67, Z:-0.85 [[ 9.95809515e-01 -9.14078085e-02 2.83243011e-03 1.35251529e+02] [ 9.14079611e-02 9.95813526e-01 7.58042813e-05 8.66592064e+00] [-2.82750132e-03 1.83420037e-04 9.99995986e-01 -8.50280367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters 0.07442680339655507 Centerline is valid? [True, True] Translation: X:135.31, Y:8.64, Z:-0.85 [[ 9.95620134e-01 -9.34710654e-02 1.92589425e-03 1.35312751e+02] [ 9.34711398e-02 9.95621988e-01 5.15394019e-05 8.63535237e+00] [-1.92228010e-03 1.28701864e-04 9.99998144e-01 -8.52789966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters 0.05772018983602756 Centerline is valid? [True, True] Translation: X:135.37, Y:8.68, Z:-0.85 [[ 9.95550971e-01 -9.42174009e-02 1.15963950e-03 1.35372881e+02] [ 9.42174283e-02 9.95551644e-01 3.11291396e-05 8.67716526e+00] [-1.15741391e-03 7.82676059e-05 9.99999327e-01 -8.52316722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters 0.05471425766341807 Centerline is valid? [True, True] Translation: X:135.43, Y:8.70, Z:-0.85 [[ 9.95753189e-01 -9.20595136e-02 7.94804755e-04 1.35433350e+02] [ 9.20595260e-02 9.95753505e-01 2.11355093e-05 8.69852676e+00] [-7.93375346e-04 5.21235982e-05 9.99999684e-01 -8.51024367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10439141799998 meters 0.05753615653577641 Centerline is valid? [True, True] Translation: X:135.49, Y:8.69, Z:-0.85 [[ 9.96188420e-01 -8.72273371e-02 -1.53024571e-04 1.35493271e+02] [ 8.72273375e-02 9.96188432e-01 -4.09878516e-06 8.69359973e+00] [ 1.52798834e-04 -9.26476362e-06 9.99999988e-01 -8.51302344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16439141799998 meters 0.054655292319684905 Centerline is valid? [True, True] Translation: X:135.55, Y:8.72, Z:-0.85 [[ 9.96583125e-01 -8.25958532e-02 -1.59451872e-06 1.35553673e+02] [ 8.25958532e-02 9.96583125e-01 -3.57852714e-08 8.71670198e+00] [ 1.59202610e-06 -9.60376336e-08 1.00000000e+00 -8.49762708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22439141799998 meters 0.05509476467426692 Centerline is valid? [True, True] Translation: X:135.61, Y:8.72, Z:-0.85 [[ 9.97329435e-01 -7.30272626e-02 1.00861353e-03 1.35613767e+02] [ 7.30272726e-02 9.97329944e-01 2.69978464e-05 8.72027505e+00] [-1.00789205e-03 4.67305483e-05 9.99999491e-01 -8.49888196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28439141799998 meters 0.05663286286997972 Centerline is valid? [True, True] Translation: X:135.67, Y:8.72, Z:-0.85 [[ 9.97852065e-01 -6.54913260e-02 1.46406531e-03 1.35673080e+02] [ 6.54913390e-02 9.97853137e-01 3.91109382e-05 8.72118354e+00] [-1.46348359e-03 5.68566671e-05 9.99998927e-01 -8.50437327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344391418 meters 0.055784925937820494 Centerline is valid? [True, True] Translation: X:135.73, Y:8.74, Z:-0.85 [[ 9.98529103e-01 -5.41667835e-02 2.36453413e-03 1.35733468e+02] [ 5.41667855e-02 9.98531900e-01 6.32554718e-05 8.73618442e+00] [-2.36448910e-03 6.49167834e-05 9.99997202e-01 -8.49905924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404391418 meters 0.05632058765517083 Centerline is valid? [True, True] Translation: X:135.79, Y:8.74, Z:-0.85 [[ 9.99027002e-01 -4.40795236e-02 1.42965461e-03 1.35793392e+02] [ 4.40795140e-02 9.99028025e-01 3.82445870e-05 8.74196304e+00] [-1.42995083e-03 2.48111054e-05 9.99998977e-01 -8.50534933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464391418 meters 0.05697088694626895 Centerline is valid? [True, True] Translation: X:135.85, Y:8.75, Z:-0.85 [[ 9.99251354e-01 -3.86817343e-02 6.74164327e-04 1.35852835e+02] [ 3.86817310e-02 9.99251582e-01 1.79953707e-05 8.74811075e+00] [-6.74355862e-04 8.09594463e-06 9.99999773e-01 -8.51507523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters 0.05674091424046761 Centerline is valid? [True, True] Translation: X:135.91, Y:8.76, Z:-0.85 [[ 9.99440271e-01 -3.34518925e-02 3.40595409e-04 1.35913766e+02] [ 3.34518913e-02 9.99440329e-01 9.24950723e-06 8.75559530e+00] [-3.40714201e-04 2.14923059e-06 9.99999942e-01 -8.51577895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters 0.056886428997677145 Centerline is valid? [True, True] Translation: X:135.98, Y:8.76, Z:-0.85 [[ 9.99519076e-01 -3.10083377e-02 3.14411671e-04 1.35975769e+02] [ 3.10083365e-02 9.99519126e-01 8.58830325e-06 8.75867167e+00] [-3.14526788e-04 1.16520998e-06 9.99999951e-01 -8.51657590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters 0.05626538396428749 Centerline is valid? [True, True] Translation: X:136.04, Y:8.76, Z:-0.85 [[ 9.99512653e-01 -3.12051722e-02 8.33290447e-04 1.36037481e+02] [ 3.12051644e-02 9.99513000e-01 2.24204051e-05 8.76112165e+00] [-8.33584267e-04 3.59348678e-06 9.99999653e-01 -8.50823327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters 0.05645979848894247 Centerline is valid? [True, True] Translation: X:136.10, Y:8.76, Z:-0.85 [[ 9.99386580e-01 -3.49930836e-02 1.39595873e-03 1.36098184e+02] [ 3.49930656e-02 9.99387554e-01 3.73098836e-05 8.75904639e+00] [-1.39640936e-03 1.15618783e-05 9.99999025e-01 -8.49864880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters 0.055781020890974226 Centerline is valid? [True, True] Translation: X:136.16, Y:8.76, Z:-0.85 [[ 9.99043697e-01 -4.36704122e-02 2.14141281e-03 1.36158725e+02] [ 4.36703901e-02 9.99045992e-01 5.70937159e-05 8.76046397e+00] [-2.14186319e-03 3.64772158e-05 9.99997706e-01 -8.48319401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82439141799998 meters 0.055900781626712664 Centerline is valid? [True, True] Translation: X:136.22, Y:8.76, Z:-0.85 [[ 9.98731815e-01 -5.02868827e-02 2.44759874e-03 1.36219975e+02] [ 5.02868736e-02 9.98734813e-01 6.52880473e-05 8.75846652e+00] [-2.44778521e-03 5.78768388e-05 9.99997002e-01 -8.48709772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88439141799998 meters 0.05883662538744288 Centerline is valid? [True, True] Translation: X:136.28, Y:8.73, Z:-0.85 [[ 9.98273239e-01 -5.87203208e-02 1.56988929e-03 1.36281329e+02] [ 5.87203275e-02 9.98274472e-01 4.18471328e-05 8.73223283e+00] [-1.56963768e-03 5.04095404e-05 9.99998767e-01 -8.52318088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94439141799998 meters 0.0573135379867451 Centerline is valid? [True, True] Translation: X:136.34, Y:8.74, Z:-0.85 [[ 9.98033701e-01 -6.26753491e-02 7.29637105e-04 1.36342005e+02] [ 6.26753516e-02 9.98033967e-01 1.94479707e-05 8.73680848e+00] [-7.29421523e-04 2.63205319e-05 9.99999734e-01 -8.52448663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00439141799998 meters 0.05578925029937097 Centerline is valid? [True, True] Translation: X:136.40, Y:8.74, Z:-0.85 [[ 9.98066187e-01 -6.21586334e-02 4.37298019e-04 1.36404174e+02] [ 6.21586341e-02 9.98066282e-01 1.18811018e-05 8.74329903e+00] [-4.37190921e-04 1.53237216e-05 9.99999904e-01 -8.51995357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06439141799999 meters 0.056042785670662634 Centerline is valid? [True, True] Translation: X:136.46, Y:8.74, Z:-0.85 [[ 9.98437587e-01 -5.58769181e-02 3.93941634e-04 1.36464245e+02] [ 5.58769184e-02 9.98437665e-01 1.04735219e-05 8.74186751e+00] [-3.93911393e-04 1.15550866e-05 9.99999922e-01 -8.52500493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124391418 meters 0.0564423648396521 Centerline is valid? [True, True] Translation: X:136.53, Y:8.74, Z:-0.85 [[ 9.98915057e-01 -4.65680502e-02 3.54522080e-04 1.36525215e+02] [ 4.65680498e-02 9.98915120e-01 9.44202053e-06 8.74413413e+00] [-3.54577163e-04 7.07762543e-06 9.99999937e-01 -8.52680478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184391418 meters 0.05620725915782962 Centerline is valid? [True, True] Translation: X:136.59, Y:8.75, Z:-0.85 [[ 9.99169033e-01 -4.07583047e-02 6.14543462e-05 1.36585489e+02] [ 4.07583047e-02 9.99169035e-01 1.63450067e-06 8.74759127e+00] [-6.14698993e-05 8.71632517e-07 9.99999998e-01 -8.52960510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244391418 meters 0.05678485117045885 Centerline is valid? [True, True] Translation: X:136.65, Y:8.75, Z:-0.85 [[ 9.99425581e-01 -3.38567596e-02 -1.49271152e-03 1.36646003e+02] [ 3.38567382e-02 9.99426696e-01 -3.96390378e-05 8.74914774e+00] [ 1.49319780e-03 -1.09220748e-05 9.99998885e-01 -8.54461272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters 0.05625511162878781 Centerline is valid? [True, True] Translation: X:136.71, Y:8.75, Z:-0.85 [[ 9.99532635e-01 -3.05156484e-02 -1.81846080e-03 1.36706778e+02] [ 3.05156113e-02 9.99534289e-01 -4.81574415e-05 8.75016101e+00] [ 1.81908348e-03 -7.35650855e-06 9.99998345e-01 -8.54995573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters 0.056697382401715374 Centerline is valid? [True, True] Translation: X:136.77, Y:8.75, Z:-0.86 [[ 9.99608355e-01 -2.79618109e-02 -1.12884387e-03 1.36768673e+02] [ 2.79617952e-02 9.99608992e-01 -2.96907833e-05 8.75022090e+00] [ 1.12923269e-03 -1.88534591e-06 9.99999362e-01 -8.56037671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters 0.05640259978864375 Centerline is valid? [True, True] Translation: X:136.83, Y:8.75, Z:-0.85 [[ 9.99679078e-01 -2.53292902e-02 -4.08923768e-04 1.36830009e+02] [ 2.53292879e-02 9.99679162e-01 -1.06858952e-05 8.74965944e+00] [ 4.09063236e-04 3.24717968e-07 9.99999916e-01 -8.53311555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters 0.05580211543688928 Centerline is valid? [True, True] Translation: X:136.89, Y:8.75, Z:-0.85 [[ 9.99752057e-01 -2.22513509e-02 8.37848841e-04 1.36892145e+02] [ 2.22513399e-02 9.99752408e-01 2.24016878e-05 8.74961343e+00] [-8.38139864e-04 -3.75287405e-06 9.99999649e-01 -8.53632726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters 0.05712876755690092 Centerline is valid? [True, True] Translation: X:136.95, Y:8.75, Z:-0.86 [[ 9.99759726e-01 -2.18434301e-02 1.83169795e-03 1.36954221e+02] [ 2.18433776e-02 9.99761404e-01 4.86345392e-05 8.74648977e+00] [-1.83232326e-03 -8.61238355e-06 9.99998321e-01 -8.55360040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60439141799998 meters 0.05681349805243118 Centerline is valid? [True, True] Translation: X:137.02, Y:8.74, Z:-0.86 [[ 9.99731657e-01 -2.31380696e-02 1.11484018e-03 1.37015954e+02] [ 2.31380510e-02 9.99732279e-01 2.95717102e-05 8.74153436e+00] [-1.11522595e-03 -3.76854588e-06 9.99999378e-01 -8.55298523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66439141799998 meters 0.05657857250468327 Centerline is valid? [True, True] Translation: X:137.08, Y:8.73, Z:-0.86 [[ 9.99606075e-01 -2.78996137e-02 3.05066225e-03 1.37078408e+02] [ 2.78994973e-02 9.99610730e-01 8.07131337e-05 8.73372897e+00] [-3.05172659e-03 4.43060456e-06 9.99995343e-01 -8.55910853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72439141799998 meters 0.05704703886976288 Centerline is valid? [True, True] Translation: X:137.14, Y:8.73, Z:-0.86 [[ 9.99494418e-01 -3.15932182e-02 3.57437494e-03 1.37140742e+02] [ 3.15930834e-02 9.99500810e-01 9.41900447e-05 8.72913628e+00] [-3.57556642e-03 1.87831017e-05 9.99993607e-01 -8.55545926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78439141799998 meters 0.05659451763300657 Centerline is valid? [True, True] Translation: X:137.20, Y:8.72, Z:-0.86 [[ 9.99332620e-01 -3.63567363e-02 3.53580542e-03 1.37203499e+02] [ 3.63566347e-02 9.99338875e-01 9.30498948e-05 8.71969031e+00] [-3.53685080e-03 3.55621908e-05 9.99993745e-01 -8.56068663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844391418 meters 0.05690783895576891 Centerline is valid? [True, True] Translation: X:137.27, Y:8.71, Z:-0.86 [[ 9.99263662e-01 -3.81776514e-02 3.82117542e-03 1.37265278e+02] [ 3.81775458e-02 9.99270967e-01 1.00578658e-04 8.71170832e+00] [-3.82222951e-03 4.53785010e-05 9.99992694e-01 -8.57123865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904391418 meters 0.05800627322402098 Centerline is valid? [True, True] Translation: X:137.33, Y:8.71, Z:-0.86 [[ 9.99292927e-01 -3.73480598e-02 4.33235840e-03 1.37328007e+02] [ 3.73479190e-02 9.99302317e-01 1.13420575e-04 8.70724046e+00] [-4.33357182e-03 4.84641924e-05 9.99990609e-01 -8.58257221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964391418 meters 0.0580105218728561 Centerline is valid? [True, True] Translation: X:137.39, Y:8.70, Z:-0.86 [[ 9.99385982e-01 -3.48506652e-02 3.61794905e-03 1.37389146e+02] [ 3.48505512e-02 9.99392531e-01 9.45802306e-05 8.70102766e+00] [-3.61904744e-03 3.15653617e-05 9.99993451e-01 -8.59013605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters 0.05789812573328073 Centerline is valid? [True, True] Translation: X:137.45, Y:8.70, Z:-0.86 [[ 9.99385309e-01 -3.48445663e-02 3.85501504e-03 1.37452528e+02] [ 3.48444370e-02 9.99392743e-01 1.00727240e-04 8.69641768e+00] [-3.85618385e-03 3.36605049e-05 9.99992564e-01 -8.59513699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters 0.05793208120353892 Centerline is valid? [True, True] Translation: X:137.52, Y:8.69, Z:-0.86 [[ 9.99299548e-01 -3.71697089e-02 4.33892122e-03 1.37515293e+02] [ 3.71695680e-02 9.99308966e-01 1.13130058e-04 8.68955310e+00] [-4.34012789e-03 4.82250116e-05 9.99990580e-01 -8.60206308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters 0.0583129767216526 Centerline is valid? [True, True] Translation: X:137.58, Y:8.68, Z:-0.86 [[ 9.99039339e-01 -4.36401732e-02 3.99190779e-03 1.37575964e+02] [ 4.36401063e-02 9.99047311e-01 1.03903963e-04 8.67761967e+00] [-3.99263913e-03 7.04031336e-05 9.99992027e-01 -8.60796851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters 0.05948189857512855 Centerline is valid? [True, True] Translation: X:137.64, Y:8.67, Z:-0.86 [[ 9.98762358e-01 -4.95855042e-02 3.87692658e-03 1.37636742e+02] [ 4.95854861e-02 9.98769878e-01 1.00826333e-04 8.66846204e+00] [-3.87715701e-03 9.15377431e-05 9.99992480e-01 -8.60826936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters 0.0607235739218339 Centerline is valid? [True, True] Translation: X:137.70, Y:8.65, Z:-0.86 [[ 9.98215206e-01 -5.95836111e-02 4.02452074e-03 1.37697715e+02] [ 5.95836727e-02 9.98223309e-01 1.04677812e-04 8.65380916e+00] [-4.02360749e-03 1.35304743e-04 9.99991896e-01 -8.61110538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32439141799998 meters 0.058654772404584596 Centerline is valid? [True, True] Translation: X:137.76, Y:8.66, Z:-0.86 [[ 9.97744694e-01 -6.69734817e-02 4.48090691e-03 1.37757825e+02] [ 6.69736328e-02 9.97754739e-01 1.16484829e-04 8.66032185e+00] [-4.47864750e-03 1.83880494e-04 9.99989954e-01 -8.60219591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38439141799998 meters 0.07424845761935103 Centerline is valid? [True, True] Translation: X:137.82, Y:8.61, Z:-0.86 [[ 9.97667870e-01 -6.82315026e-02 1.81202889e-03 1.37819010e+02] [ 6.82315294e-02 9.97669513e-01 4.70952256e-05 8.61432394e+00] [-1.81101936e-03 7.66521094e-05 9.99998357e-01 -8.63962229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44439141799998 meters 0.0639653438858684 Centerline is valid? [True, True] Translation: X:137.88, Y:8.64, Z:-0.86 [[ 9.97788853e-01 -6.63700839e-02 3.52378462e-03 1.37878989e+02] [ 6.63701736e-02 9.97795065e-01 9.16033390e-05 8.63710050e+00] [-3.52209463e-03 1.42473407e-04 9.99993787e-01 -8.61552303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50439141799998 meters 0.06291844849830346 Centerline is valid? [True, True] Translation: X:137.94, Y:8.64, Z:-0.86 [[ 9.98265070e-01 -5.86797956e-02 4.85084507e-03 1.37939887e+02] [ 5.86798752e-02 9.98276844e-01 1.26027428e-04 8.64215214e+00] [-4.84988157e-03 1.58838205e-04 9.99988227e-01 -8.61563004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56439141799999 meters 0.06140972465741353 Centerline is valid? [True, True] Translation: X:138.00, Y:8.65, Z:-0.86 [[ 9.98634148e-01 -5.20510321e-02 4.53091290e-03 1.38000894e+02] [ 5.20510331e-02 9.98644419e-01 1.17777100e-04 8.64987636e+00] [-4.53090130e-03 1.18222464e-04 9.99989728e-01 -8.62424492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624391418 meters 0.05817148851390543 Centerline is valid? [True, True] Translation: X:138.06, Y:8.67, Z:-0.86 [[ 9.99091811e-01 -4.24477800e-02 3.70674533e-03 1.38060686e+02] [ 4.24477147e-02 9.99098685e-01 9.63166137e-05 8.67459398e+00] [-3.70749281e-03 6.11137283e-05 9.99993125e-01 -8.61132459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684391418 meters 0.0588769929994753 Centerline is valid? [True, True] Translation: X:138.12, Y:8.68, Z:-0.86 [[ 9.99324893e-01 -3.66179308e-02 2.98067190e-03 1.38121694e+02] [ 3.66178626e-02 9.99329338e-01 7.74712874e-05 8.67744204e+00] [-2.98150971e-03 3.17268479e-05 9.99995555e-01 -8.61977303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters 0.05828243500607461 Centerline is valid? [True, True] Translation: X:138.18, Y:8.67, Z:-0.86 [[ 9.99361079e-01 -3.56412647e-02 2.67084059e-03 1.38183526e+02] [ 3.56412062e-02 9.99364648e-01 6.95187061e-05 8.67263395e+00] [-2.67162140e-03 2.57176910e-05 9.99996431e-01 -8.64573754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters 0.05859305363049945 Centerline is valid? [True, True] Translation: X:138.25, Y:8.68, Z:-0.86 [[ 9.99322743e-01 -3.66931800e-02 2.76885179e-03 1.38245758e+02] [ 3.66931216e-02 9.99326578e-01 7.19366545e-05 8.67939642e+00] [-2.76962677e-03 2.97098804e-05 9.99996164e-01 -8.62794477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters 0.05874628633441484 Centerline is valid? [True, True] Translation: X:138.31, Y:8.68, Z:-0.86 [[ 9.99255514e-01 -3.85104773e-02 2.31521231e-03 1.38306810e+02] [ 3.85104415e-02 9.99258196e-01 6.00738587e-05 8.67723456e+00] [-2.31580835e-03 2.91307134e-05 9.99997318e-01 -8.63411802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters 0.057847705561513536 Centerline is valid? [True, True] Translation: X:138.37, Y:8.68, Z:-0.86 [[ 9.99037190e-01 -4.37252973e-02 3.57643667e-03 1.38368374e+02] [ 4.37252458e-02 9.99043590e-01 9.26187489e-05 8.67508865e+00] [-3.57706592e-03 6.38509981e-05 9.99993600e-01 -8.62858502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters 0.059079125857561796 Centerline is valid? [True, True] Translation: X:138.43, Y:8.67, Z:-0.86 [[ 9.98724929e-01 -5.01755234e-02 5.56174415e-03 1.38429262e+02] [ 5.01755001e-02 9.98740406e-01 1.43819208e-04 8.67054947e+00] [-5.56195482e-03 1.35427466e-04 9.99984523e-01 -8.63658084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters 0.05948827515312147 Centerline is valid? [True, True] Translation: X:138.49, Y:8.67, Z:-0.86 [[ 9.98429271e-01 -5.57032888e-02 6.01121031e-03 1.38489177e+02] [ 5.57033620e-02 9.98447350e-01 1.55377504e-04 8.66532983e+00] [-6.01053205e-03 1.79711175e-04 9.99981920e-01 -8.64817852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10439141799998 meters 0.05893485834782677 Centerline is valid? [True, True] Translation: X:138.55, Y:8.67, Z:-0.87 [[ 9.98288569e-01 -5.81987119e-02 5.73094665e-03 1.38549607e+02] [ 5.81988192e-02 9.98305001e-01 1.48174925e-04 8.66736575e+00] [-5.72985629e-03 1.85612994e-04 9.99983567e-01 -8.65946441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16439141799998 meters 0.058590441917171276 Centerline is valid? [True, True] Translation: X:138.61, Y:8.67, Z:-0.87 [[ 9.98280443e-01 -5.84006859e-02 5.05149489e-03 1.38611753e+02] [ 5.84007719e-02 9.98293210e-01 1.30603617e-04 8.67325985e+00] [-5.05050039e-03 1.64632164e-04 9.99987233e-01 -8.67763621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22439141799998 meters 0.05711264268299782 Centerline is valid? [True, True] Translation: X:138.67, Y:8.68, Z:-0.87 [[ 9.98380027e-01 -5.66514854e-02 5.28494766e-03 1.38673011e+02] [ 5.66515563e-02 9.98394002e-01 1.36414707e-04 8.68169649e+00] [-5.28418814e-03 1.63206791e-04 9.99986025e-01 -8.69068928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28439141799998 meters 0.0580146736269893 Centerline is valid? [True, True] Translation: X:138.73, Y:8.68, Z:-0.87 [[ 9.98563677e-01 -5.33406393e-02 5.03581506e-03 1.38734097e+02] [ 5.33406619e-02 9.98576365e-01 1.29908852e-04 8.68086564e+00] [-5.03557532e-03 1.38891448e-04 9.99987312e-01 -8.69690773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344391418 meters 0.058203453475638794 Centerline is valid? [True, True] Translation: X:138.79, Y:8.68, Z:-0.87 [[ 9.98889794e-01 -4.68634290e-02 4.79572661e-03 1.38794114e+02] [ 4.68633753e-02 9.98901301e-01 1.23622689e-04 8.68389510e+00] [-4.79625093e-03 1.01258494e-04 9.99988493e-01 -8.71050370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404391418 meters 0.057607152788239496 Centerline is valid? [True, True] Translation: X:138.86, Y:8.69, Z:-0.87 [[ 9.99081375e-01 -4.25678766e-02 4.93775219e-03 1.38855152e+02] [ 4.25677672e-02 9.99093574e-01 1.27303541e-04 8.68674564e+00] [-4.93869553e-03 8.30024892e-05 9.99987801e-01 -8.71519933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464391418 meters 0.05793429985930244 Centerline is valid? [True, True] Translation: X:138.92, Y:8.70, Z:-0.87 [[ 9.99349528e-01 -3.54842533e-02 6.43341622e-03 1.38915832e+02] [ 3.54839216e-02 9.99370234e-01 1.65728093e-04 8.69607953e+00] [-6.43524540e-03 6.26625447e-05 9.99979292e-01 -8.72204142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters 0.05751821818467492 Centerline is valid? [True, True] Translation: X:138.98, Y:8.70, Z:-0.87 [[ 9.99532059e-01 -2.99127346e-02 6.39457833e-03 1.38977476e+02] [ 2.99122932e-02 9.99552514e-01 1.64662950e-04 8.70135147e+00] [-6.39664236e-03 2.66906049e-05 9.99979541e-01 -8.71588329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters 0.05802495628552347 Centerline is valid? [True, True] Translation: X:139.04, Y:8.70, Z:-0.87 [[ 9.99543607e-01 -2.93655388e-02 7.08816107e-03 1.39040096e+02] [ 2.93649848e-02 9.99568739e-01 1.82238273e-04 8.70303658e+00] [-7.09045575e-03 2.59886413e-05 9.99974862e-01 -8.72265221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters 0.058271806599989165 Centerline is valid? [True, True] Translation: X:139.10, Y:8.70, Z:-0.87 [[ 9.99448046e-01 -3.25814132e-02 6.48490316e-03 1.39102553e+02] [ 3.25810197e-02 9.99469084e-01 1.66345760e-04 8.70308673e+00] [-6.48688000e-03 4.50308120e-05 9.99978959e-01 -8.73607450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters 0.057505791709550294 Centerline is valid? [True, True] Translation: X:139.16, Y:8.70, Z:-0.87 [[ 9.99272453e-01 -3.76543014e-02 6.05952843e-03 1.39163478e+02] [ 3.76540552e-02 9.99290823e-01 1.54750963e-04 8.70067154e+00] [-6.06105819e-03 7.35274437e-05 9.99981629e-01 -8.74204502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters 0.05734598660801536 Centerline is valid? [True, True] Translation: X:139.23, Y:8.70, Z:-0.87 [[ 9.99139415e-01 -4.10682799e-02 5.81594963e-03 1.39225072e+02] [ 4.10681129e-02 9.99156338e-01 1.48197851e-04 8.69899335e+00] [-5.81712917e-03 9.07797621e-05 9.99983076e-01 -8.74488656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82439141799998 meters 0.05753503468762758 Centerline is valid? [True, True] Translation: X:139.29, Y:8.70, Z:-0.88 [[ 9.98963051e-01 -4.51105772e-02 6.15299065e-03 1.39286116e+02] [ 4.51104682e-02 9.98981992e-01 1.56573524e-04 8.69918782e+00] [-6.15378998e-03 1.21153123e-04 9.99981058e-01 -8.75376689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88439141799998 meters 0.057920248681562855 Centerline is valid? [True, True] Translation: X:139.35, Y:8.70, Z:-0.87 [[ 9.98920129e-01 -4.60572248e-02 6.10807327e-03 1.39347659e+02] [ 4.60571353e-02 9.98938795e-01 1.55378402e-04 8.70102403e+00] [-6.10874766e-03 1.26109744e-04 9.99981333e-01 -8.74884623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94439141799998 meters 0.05785832724875899 Centerline is valid? [True, True] Translation: X:139.41, Y:8.70, Z:-0.88 [[ 9.98966243e-01 -4.50092063e-02 6.37319811e-03 1.39409326e+02] [ 4.50090886e-02 9.98986564e-01 1.61961146e-04 8.69955039e+00] [-6.37402903e-03 1.25058121e-04 9.99979678e-01 -8.75350894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00439141799998 meters 0.058101610713658026 Centerline is valid? [True, True] Translation: X:139.47, Y:8.70, Z:-0.88 [[ 9.99024507e-01 -4.36911662e-02 6.41214894e-03 1.39471535e+02] [ 4.36910212e-02 9.99045078e-01 1.62762448e-04 8.70149492e+00] [-6.41313712e-03 1.17549660e-04 9.99979429e-01 -8.76243471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06439141799999 meters 0.05827712964924169 Centerline is valid? [True, True] Translation: X:139.53, Y:8.70, Z:-0.88 [[ 9.99125797e-01 -4.12925321e-02 6.52451445e-03 1.39533547e+02] [ 4.12923324e-02 9.99147094e-01 1.65376066e-04 8.70005616e+00] [-6.52577845e-03 1.04180925e-04 9.99978701e-01 -8.76923110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124391418 meters 0.057891543033122286 Centerline is valid? [True, True] Translation: X:139.59, Y:8.70, Z:-0.88 [[ 9.99291712e-01 -3.70365511e-02 6.66100101e-03 1.39594151e+02] [ 3.70362498e-02 9.99313909e-01 1.68622641e-04 8.70156873e+00] [-6.66267615e-03 7.81952898e-05 9.99977801e-01 -8.76523565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184391418 meters 0.058325243363593564 Centerline is valid? [True, True] Translation: X:139.66, Y:8.71, Z:-0.88 [[ 9.99416860e-01 -3.33360771e-02 7.39224523e-03 1.39656846e+02] [ 3.33356062e-02 9.99444197e-01 1.86942188e-04 8.70592377e+00] [-7.39436851e-03 5.95918013e-05 9.99972660e-01 -8.77869566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters 0.05888338678553475 Centerline is valid? [True, True] Translation: X:139.72, Y:8.71, Z:-0.88 [[ 9.99632315e-01 -2.64051100e-02 6.16481344e-03 1.39718638e+02] [ 2.64046525e-02 9.99651324e-01 1.55599545e-04 8.70538448e+00] [-6.16677255e-03 7.23742292e-06 9.99980985e-01 -8.78435527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters 0.05876682172688984 Centerline is valid? [True, True] Translation: X:139.78, Y:8.71, Z:-0.88 [[ 9.99726221e-01 -2.27799521e-02 5.34382605e-03 1.39779854e+02] [ 2.27795572e-02 9.99740503e-01 1.34748642e-04 8.70537859e+00] [-5.34550892e-03 -1.29817596e-05 9.99985713e-01 -8.78664862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters 0.05841907552593424 Centerline is valid? [True, True] Translation: X:139.84, Y:8.70, Z:-0.88 [[ 9.99737972e-01 -2.23277674e-02 5.04568530e-03 1.39842698e+02] [ 2.23274110e-02 9.99750704e-01 1.26965013e-04 8.70182123e+00] [-5.04726227e-03 -1.42746555e-05 9.99987262e-01 -8.79458304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters 0.058317758556193464 Centerline is valid? [True, True] Translation: X:139.91, Y:8.70, Z:-0.88 [[ 9.99642201e-01 -2.63314066e-02 4.70396838e-03 1.39905505e+02] [ 2.63311419e-02 9.99653268e-01 1.18188670e-04 8.69638723e+00] [-4.70544944e-03 5.71447690e-06 9.99988929e-01 -8.79915882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters 0.05847801711000442 Centerline is valid? [True, True] Translation: X:139.97, Y:8.69, Z:-0.88 [[ 9.99419793e-01 -3.37859702e-02 4.31112733e-03 1.39967635e+02] [ 3.37858180e-02 9.99429090e-01 1.08152834e-04 8.68946259e+00] [-4.31232012e-03 3.75648804e-05 9.99990701e-01 -8.79584214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters 0.05902794821552348 Centerline is valid? [True, True] Translation: X:140.03, Y:8.68, Z:-0.88 [[ 9.99145129e-01 -4.11685622e-02 3.76296227e-03 1.40028167e+02] [ 4.11684991e-02 9.99152214e-01 9.42689507e-05 8.68235473e+00] [-3.76365300e-03 6.07271457e-05 9.99992916e-01 -8.79000711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60439141799998 meters 0.0589950061630921 Centerline is valid? [True, True] Translation: X:140.09, Y:8.67, Z:-0.88 [[ 9.98973504e-01 -4.51103447e-02 4.12254291e-03 1.40089369e+02] [ 4.51103028e-02 9.98982007e-01 1.03196325e-04 8.67307891e+00] [-4.12300141e-03 8.28787642e-05 9.99991497e-01 -8.79431196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66439141799998 meters 0.05884143720782455 Centerline is valid? [True, True] Translation: X:140.15, Y:8.67, Z:-0.88 [[ 9.98667403e-01 -5.13837459e-02 4.80928392e-03 1.40149490e+02] [ 5.13837620e-02 9.98678975e-01 1.20281647e-04 8.67234169e+00] [-4.80911125e-03 1.26997740e-04 9.99988428e-01 -8.78768512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72439141799998 meters 0.06109225198997715 Centerline is valid? [True, True] Translation: X:140.21, Y:8.66, Z:-0.88 [[ 9.98271462e-01 -5.86135135e-02 4.30619229e-03 1.40209582e+02] [ 5.86135937e-02 9.98280740e-01 1.07696568e-04 8.65567134e+00] [-4.30510130e-03 1.44890994e-04 9.99990723e-01 -8.79597296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78439141799998 meters 0.05943040719723083 Centerline is valid? [True, True] Translation: X:140.27, Y:8.66, Z:-0.88 [[ 9.97763651e-01 -6.67486066e-02 3.51006332e-03 1.40270273e+02] [ 6.67487101e-02 9.97769814e-01 8.77881518e-05 8.66058338e+00] [-3.50809496e-03 1.46700372e-04 9.99993836e-01 -8.79536767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844391418 meters 0.06011648470055331 Centerline is valid? [True, True] Translation: X:140.33, Y:8.66, Z:-0.88 [[ 9.97381297e-01 -7.22658595e-02 2.86257440e-03 1.40330857e+02] [ 7.22659509e-02 9.97385396e-01 7.16228591e-05 8.66102699e+00] [-2.86026579e-03 1.35431361e-04 9.99995900e-01 -8.79772895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904391418 meters 0.060330387258396616 Centerline is valid? [True, True] Translation: X:140.39, Y:8.66, Z:-0.88 [[ 9.96997258e-01 -7.73991301e-02 2.41710984e-03 1.40390390e+02] [ 7.73992104e-02 9.97000180e-01 6.04600827e-05 8.66152824e+00] [-2.41453851e-03 1.26803857e-04 9.99997077e-01 -8.80254075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964391418 meters 0.06077252905324872 Centerline is valid? [True, True] Translation: X:140.45, Y:8.67, Z:-0.88 [[ 9.96905412e-01 -7.85836990e-02 2.04962333e-03 1.40451062e+02] [ 7.85837592e-02 9.96907513e-01 5.12887126e-05 8.66599846e+00] [-2.04731535e-03 1.09937111e-04 9.99997898e-01 -8.80425075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters 0.06022159394284151 Centerline is valid? [True, True] Translation: X:140.51, Y:8.68, Z:-0.88 [[ 9.97019379e-01 -7.71392339e-02 1.37698733e-03 1.40512005e+02] [ 7.71392596e-02 9.97020328e-01 3.45110824e-05 8.67730357e+00] [-1.37554651e-03 7.18115648e-05 9.99999051e-01 -8.80342420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters 0.06120748954606106 Centerline is valid? [True, True] Translation: X:140.57, Y:8.68, Z:-0.88 [[ 9.97379431e-01 -7.23407703e-02 1.04073613e-03 1.40572048e+02] [ 7.23407825e-02 9.97379973e-01 2.59590347e-05 8.68221142e+00] [-1.03988727e-03 4.93966586e-05 9.99999458e-01 -8.80675459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters 0.061110107658469366 Centerline is valid? [True, True] Translation: X:140.63, Y:8.69, Z:-0.88 [[ 9.97700334e-01 -6.77478672e-02 2.06642254e-03 1.40631846e+02] [ 6.77479054e-02 9.97702470e-01 5.15507998e-05 8.68826852e+00] [-2.06516733e-03 8.85635488e-05 9.99997864e-01 -8.80656285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters 0.0601203382726408 Centerline is valid? [True, True] Translation: X:140.69, Y:8.70, Z:-0.88 [[ 9.97775713e-01 -6.66022550e-02 2.78679286e-03 1.40692704e+02] [ 6.66023199e-02 9.97779598e-01 6.96092362e-05 8.69889987e+00] [-2.78524119e-03 1.16152464e-04 9.99996114e-01 -8.80403815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters 0.06193774375075518 Centerline is valid? [True, True] Translation: X:140.75, Y:8.70, Z:-0.88 [[ 9.97941869e-01 -6.40774858e-02 2.47026578e-03 1.40752610e+02] [ 6.40775295e-02 9.97944922e-01 6.15696904e-05 8.69741157e+00] [-2.46913442e-03 9.68455561e-05 9.99996947e-01 -8.81805584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32439141799998 meters 0.059591272913295495 Centerline is valid? [True, True] Translation: X:140.81, Y:8.72, Z:-0.88 [[ 9.98066452e-01 -6.20865913e-02 2.93459325e-03 1.40812457e+02] [ 6.20866442e-02 9.98070761e-01 7.31671039e-05 8.71878196e+00] [-2.93347442e-03 1.09173415e-04 9.99995691e-01 -8.80978128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38439141799998 meters 0.05967778580930643 Centerline is valid? [True, True] Translation: X:140.87, Y:8.72, Z:-0.88 [[ 9.98101529e-01 -6.14883588e-02 3.53824115e-03 1.40874015e+02] [ 6.14884318e-02 9.98107792e-01 8.82387416e-05 8.72498382e+00] [-3.53697171e-03 1.29489677e-04 9.99993737e-01 -8.81439866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44439141799998 meters 0.058165758990792404 Centerline is valid? [True, True] Translation: X:140.94, Y:8.74, Z:-0.88 [[ 9.98113861e-01 -6.12239257e-02 4.51127677e-03 1.40936343e+02] [ 6.12240425e-02 9.98124042e-01 1.12335999e-04 8.74044679e+00] [-4.50969146e-03 1.64074483e-04 9.99989818e-01 -8.81893224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50439141799998 meters 0.06092669671718748 Centerline is valid? [True, True] Translation: X:141.00, Y:8.74, Z:-0.88 [[ 9.98220056e-01 -5.94767629e-02 4.38576367e-03 1.40997236e+02] [ 5.94768576e-02 9.98229679e-01 1.08948890e-04 8.73502625e+00] [-4.38447939e-03 1.52096474e-04 9.99990377e-01 -8.83371197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56439141799999 meters 0.05880184721668062 Centerline is valid? [True, True] Translation: X:141.06, Y:8.76, Z:-0.88 [[ 9.98442589e-01 -5.56497920e-02 3.93669651e-03 1.41056855e+02] [ 5.56498389e-02 9.98450342e-01 9.77069237e-05 8.75568646e+00] [-3.93603335e-03 1.21521773e-04 9.99992246e-01 -8.83660348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624391418 meters 0.05909258143972268 Centerline is valid? [True, True] Translation: X:141.12, Y:8.76, Z:-0.88 [[ 9.98668541e-01 -5.14349461e-02 3.94853244e-03 1.41116768e+02] [ 5.14349604e-02 9.98676342e-01 9.80002143e-05 8.75876232e+00] [-3.94834657e-03 1.05222879e-04 9.99992200e-01 -8.84206595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684391418 meters 0.05880602872316916 Centerline is valid? [True, True] Translation: X:141.18, Y:8.77, Z:-0.88 [[ 9.98811802e-01 -4.85337646e-02 4.41110407e-03 1.41176745e+02] [ 4.85337543e-02 9.98821537e-01 1.09458361e-04 8.77078835e+00] [-4.41121817e-03 1.04759138e-04 9.99990265e-01 -8.84202261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters 0.059014442772094854 Centerline is valid? [True, True] Translation: X:141.24, Y:8.78, Z:-0.89 [[ 9.98802723e-01 -4.87458567e-02 4.11839226e-03 1.41238783e+02] [ 4.87458492e-02 9.98811209e-01 1.02255787e-04 8.77515162e+00] [-4.11848090e-03 9.86211692e-05 9.99991514e-01 -8.85197594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters 0.056727927018583604 Centerline is valid? [True, True] Translation: X:141.30, Y:8.79, Z:-0.89 [[ 9.98633884e-01 -5.20918813e-02 4.09891933e-03 1.41298955e+02] [ 5.20919026e-02 9.98642290e-01 1.01613179e-04 8.78806319e+00] [-4.09864741e-03 1.12046143e-04 9.99991594e-01 -8.85224445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters 0.0577115114397365 Centerline is valid? [True, True] Translation: X:141.36, Y:8.78, Z:-0.89 [[ 9.98366695e-01 -5.69346686e-02 4.73126556e-03 1.41359571e+02] [ 5.69347519e-02 9.98377895e-01 1.17181705e-04 8.78189246e+00] [-4.73026265e-03 1.52383120e-04 9.99988801e-01 -8.86310248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters 0.05992359267371944 Centerline is valid? [True, True] Translation: X:141.42, Y:8.78, Z:-0.89 [[ 9.98193844e-01 -5.99631126e-02 3.67085615e-03 1.41420058e+02] [ 5.99631833e-02 9.98200585e-01 9.08919475e-05 8.77976555e+00] [-3.66970092e-03 1.29388438e-04 9.99993258e-01 -8.87476431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters 0.05895812916627146 Centerline is valid? [True, True] Translation: X:141.48, Y:8.79, Z:-0.89 [[ 9.98179894e-01 -6.01580083e-02 4.23239773e-03 1.41481690e+02] [ 6.01581040e-02 9.98188856e-01 1.04801898e-04 8.78843545e+00] [-4.23103692e-03 1.50001876e-04 9.99991038e-01 -8.88052315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters 0.05909989741599593 Centerline is valid? [True, True] Translation: X:141.54, Y:8.79, Z:-0.89 [[ 9.98390999e-01 -5.65762584e-02 3.81305482e-03 1.41541676e+02] [ 5.65763107e-02 9.98398273e-01 9.42244154e-05 8.78942019e+00] [-3.81227821e-03 1.21655766e-04 9.99992726e-01 -8.89525507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10439141799998 meters 0.05812418588644701 Centerline is valid? [True, True] Translation: X:141.60, Y:8.80, Z:-0.89 [[ 9.98716432e-01 -5.04284901e-02 4.73867383e-03 1.41601720e+02] [ 5.04285016e-02 9.98727667e-01 1.17137415e-04 8.79990884e+00] [-4.73855172e-03 1.21977160e-04 9.99988766e-01 -8.89095339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16439141799998 meters 0.057094888233193516 Centerline is valid? [True, True] Translation: X:141.66, Y:8.81, Z:-0.89 [[ 9.98936223e-01 -4.57805747e-02 5.52831608e-03 1.41662138e+02] [ 4.57805191e-02 9.98951513e-01 1.36669694e-04 8.80572395e+00] [-5.52877653e-03 1.16564872e-04 9.99984709e-01 -8.89067597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22439141799998 meters 0.057445786078461555 Centerline is valid? [True, True] Translation: X:141.72, Y:8.81, Z:-0.89 [[ 9.99212498e-01 -3.93870338e-02 4.80061399e-03 1.41722522e+02] [ 3.93869184e-02 9.99224027e-01 1.18601683e-04 8.81182688e+00] [-4.80156021e-03 7.05731082e-05 9.99988470e-01 -8.90196087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28439141799998 meters 0.05709106959975558 Centerline is valid? [True, True] Translation: X:141.78, Y:8.82, Z:-0.89 [[ 9.99356595e-01 -3.56386489e-02 4.03509326e-03 1.41782924e+02] [ 3.56385369e-02 9.99364741e-01 9.96642790e-05 8.81772691e+00] [-4.03608183e-03 4.42046657e-05 9.99991854e-01 -8.90607834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344391418 meters 0.05692391280486627 Centerline is valid? [True, True] Translation: X:141.85, Y:8.82, Z:-0.89 [[ 9.99483660e-01 -3.19842581e-02 3.06942520e-03 1.41845267e+02] [ 3.19841757e-02 9.99488372e-01 7.59526858e-05 8.82006236e+00] [-3.07028408e-03 2.22595663e-05 9.99995286e-01 -8.91223808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404391418 meters 0.05716514838297483 Centerline is valid? [True, True] Translation: X:141.91, Y:8.82, Z:-0.89 [[ 9.99502678e-01 -3.14904785e-02 1.65706494e-03 1.41908097e+02] [ 3.14904537e-02 9.99504052e-01 4.10720236e-05 8.81960677e+00] [-1.65753650e-03 1.11301292e-05 9.99998626e-01 -8.92899023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464391418 meters 0.05722450647360615 Centerline is valid? [True, True] Translation: X:141.97, Y:8.82, Z:-0.89 [[ 9.99411536e-01 -3.42432230e-02 1.99585682e-03 1.41969002e+02] [ 3.42431932e-02 9.99413529e-01 4.91334593e-05 8.81944348e+00] [-1.99636880e-03 1.92399647e-05 9.99998007e-01 -8.92299648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters 0.057988634339271074 Centerline is valid? [True, True] Translation: X:142.03, Y:8.82, Z:-0.89 [[ 9.99329538e-01 -3.65691613e-02 1.78095166e-03 1.42031251e+02] [ 3.65691411e-02 9.99331124e-01 4.38754821e-05 8.81846723e+00] [-1.78136491e-03 2.12818073e-05 9.99998413e-01 -8.91407808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters 0.0575548260085733 Centerline is valid? [True, True] Translation: X:142.09, Y:8.82, Z:-0.89 [[ 9.99163808e-01 -4.07800488e-02 2.94476028e-03 1.42091117e+02] [ 4.07800132e-02 9.99168147e-01 7.21421122e-05 8.81543996e+00] [-2.94525263e-03 4.80055756e-05 9.99995662e-01 -8.90983975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters 0.05872348396131247 Centerline is valid? [True, True] Translation: X:142.15, Y:8.81, Z:-0.89 [[ 9.98897986e-01 -4.68282530e-02 3.15095753e-03 1.42150479e+02] [ 4.68282423e-02 9.98902953e-01 7.72204382e-05 8.80845608e+00] [-3.15111688e-03 7.04184625e-05 9.99995033e-01 -8.91209213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters 0.05807165166715678 Centerline is valid? [True, True] Translation: X:142.21, Y:8.81, Z:-0.89 [[ 9.98508793e-01 -5.45334856e-02 2.50789444e-03 1.42211475e+02] [ 5.45335031e-02 9.98511939e-01 6.14399152e-05 8.80745713e+00] [-2.50751307e-03 7.54159735e-05 9.99996853e-01 -8.91423770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters 0.058530791524882095 Centerline is valid? [True, True] Translation: X:142.27, Y:8.80, Z:-0.89 [[ 9.98205434e-01 -5.98508586e-02 1.94595591e-03 1.42273047e+02] [ 5.98508792e-02 9.98207328e-01 4.76952121e-05 8.80434832e+00] [-1.94532205e-03 6.88575520e-05 9.99998105e-01 -8.91621955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82439141799998 meters 0.058449616287779 Centerline is valid? [True, True] Translation: X:142.33, Y:8.80, Z:-0.89 [[ 9.98106283e-01 -6.14721071e-02 2.24236691e-03 1.42334092e+02] [ 6.14721387e-02 9.98108798e-01 5.49001945e-05 8.80430580e+00] [-2.24150097e-03 8.30468606e-05 9.99997484e-01 -8.92058158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88439141799998 meters 0.0595021443882149 Centerline is valid? [True, True] Translation: X:142.40, Y:8.80, Z:-0.89 [[ 9.98122343e-01 -6.12213060e-02 1.93399811e-03 1.42395462e+02] [ 6.12213289e-02 9.98124214e-01 4.74087037e-05 8.80096797e+00] [-1.93327277e-03 7.10822480e-05 9.99998129e-01 -8.92839114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94439141799998 meters 0.058936222324858685 Centerline is valid? [True, True] Translation: X:142.46, Y:8.81, Z:-0.89 [[ 9.98260685e-01 -5.89433106e-02 1.13661416e-03 1.42456077e+02] [ 5.89433171e-02 9.98261331e-01 2.78521638e-05 8.80777958e+00] [-1.13627966e-03 3.91920886e-05 9.99999354e-01 -8.92914816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00439141799998 meters 0.05809986018408554 Centerline is valid? [True, True] Translation: X:142.52, Y:8.81, Z:-0.89 [[ 9.98336295e-01 -5.76534108e-02 8.51738339e-04 1.42516957e+02] [ 5.76534139e-02 9.98336658e-01 2.08847892e-05 8.81448885e+00] [-8.51525687e-04 2.82555799e-05 9.99999637e-01 -8.94045419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06439141799999 meters 0.058831974469932095 Centerline is valid? [True, True] Translation: X:142.58, Y:8.82, Z:-0.89 [[ 9.98344216e-01 -5.75113412e-02 1.12781596e-03 1.42578909e+02] [ 5.75113465e-02 9.98344852e-01 2.76848609e-05 8.81682567e+00] [-1.12754145e-03 3.72231939e-05 9.99999364e-01 -8.94005614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124391418 meters 0.06049329700693993 Centerline is valid? [True, True] Translation: X:142.64, Y:8.81, Z:-0.89 [[ 9.98306134e-01 -5.81636565e-02 1.36048525e-03 1.42639745e+02] [ 5.81636649e-02 9.98307060e-01 3.34240032e-05 8.81279546e+00] [-1.36012610e-03 4.57634211e-05 9.99999074e-01 -8.94251818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184391418 meters 0.06048059230096925 Centerline is valid? [True, True] Translation: X:142.70, Y:8.81, Z:-0.89 [[ 9.98242997e-01 -5.92023620e-02 2.44951302e-03 1.42701161e+02] [ 5.92023937e-02 9.98245998e-01 5.96375085e-05 8.81123468e+00] [-2.44874726e-03 8.54843092e-05 9.99996998e-01 -8.94387460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters 0.06000147612917093 Centerline is valid? [True, True] Translation: X:142.76, Y:8.82, Z:-0.89 [[ 9.98178865e-01 -6.02423346e-02 3.13274039e-03 1.42763441e+02] [ 6.02423918e-02 9.98183775e-01 7.61840594e-05 8.82173297e+00] [-3.13164013e-03 1.12678456e-04 9.99995090e-01 -8.93609941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters 0.05899509791078837 Centerline is valid? [True, True] Translation: X:142.82, Y:8.82, Z:-0.89 [[ 9.98233031e-01 -5.93110395e-02 3.60771539e-03 1.42824483e+02] [ 5.93111099e-02 9.98239543e-01 8.75674265e-05 8.82312155e+00] [-3.60655788e-03 1.26564906e-04 9.99993488e-01 -8.94487801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters 0.05904451547502508 Centerline is valid? [True, True] Translation: X:142.89, Y:8.84, Z:-0.89 [[ 9.98457909e-01 -5.53780232e-02 3.88310002e-03 1.42885250e+02] [ 5.53780755e-02 9.98465453e-01 9.41333326e-05 8.83641114e+00] [-3.88235413e-03 1.21050435e-04 9.99992456e-01 -8.94118698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters 0.05842113546136544 Centerline is valid? [True, True] Translation: X:142.95, Y:8.84, Z:-0.89 [[ 9.98846807e-01 -4.78461370e-02 3.97523423e-03 1.42945268e+02] [ 4.78461326e-02 9.98854713e-01 9.62701157e-05 8.84044346e+00] [-3.97528760e-03 9.40404863e-05 9.99992094e-01 -8.94523547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters 0.059059616370165297 Centerline is valid? [True, True] Translation: X:143.00, Y:8.84, Z:-0.90 [[ 9.99118696e-01 -4.18044996e-02 3.77019807e-03 1.43004950e+02] [ 4.18044528e-02 9.99125808e-01 9.12472149e-05 8.84035937e+00] [-3.77071673e-03 6.64442688e-05 9.99992889e-01 -8.95743722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters 0.05908392604140058 Centerline is valid? [True, True] Translation: X:143.07, Y:8.85, Z:-0.89 [[ 9.99341864e-01 -3.60617479e-02 3.92297751e-03 1.43065414e+02] [ 3.60616528e-02 9.99349563e-01 9.50006915e-05 8.85420074e+00] [-3.92385175e-03 4.65308850e-05 9.99992301e-01 -8.94786939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60439141799998 meters 0.05775382658499027 Centerline is valid? [True, True] Translation: X:143.13, Y:8.86, Z:-0.90 [[ 9.99542985e-01 -2.98745658e-02 4.61865658e-03 1.43126604e+02] [ 2.98743680e-02 9.99553655e-01 1.11827938e-04 8.85793168e+00] [-4.61993588e-03 2.62026153e-05 9.99989328e-01 -8.96307056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66439141799998 meters 0.05726311908340938 Centerline is valid? [True, True] Translation: X:143.19, Y:8.86, Z:-0.90 [[ 9.99591712e-01 -2.83114962e-02 3.85598756e-03 1.43187748e+02] [ 2.83113469e-02 9.99599149e-01 9.33089892e-05 8.85856684e+00] [-3.85708360e-03 1.58973091e-05 9.99992561e-01 -8.96486334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72439141799998 meters 0.057599879873846564 Centerline is valid? [True, True] Translation: X:143.25, Y:8.86, Z:-0.90 [[ 9.99463260e-01 -3.24011110e-02 4.83322755e-03 1.43250253e+02] [ 3.24009251e-02 9.99474945e-01 1.16779260e-04 8.85731719e+00] [-4.83447362e-03 3.98844645e-05 9.99988313e-01 -8.95693315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78439141799998 meters 0.05839671409135422 Centerline is valid? [True, True] Translation: X:143.31, Y:8.85, Z:-0.90 [[ 9.99343618e-01 -3.60932097e-02 3.10063226e-03 1.43311625e+02] [ 3.60931511e-02 9.99348427e-01 7.48429049e-05 8.85333744e+00] [-3.10131329e-03 3.71178093e-05 9.99995190e-01 -8.96126162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844391418 meters 0.05833063729334255 Centerline is valid? [True, True] Translation: X:143.37, Y:8.85, Z:-0.90 [[ 9.99077324e-01 -4.27761077e-02 3.83485720e-03 1.43372339e+02] [ 4.27760689e-02 9.99084681e-01 9.21753068e-05 8.85297855e+00] [-3.83528998e-03 7.19498572e-05 9.99992643e-01 -8.95655162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904391418 meters 0.058330832535649205 Centerline is valid? [True, True] Translation: X:143.43, Y:8.85, Z:-0.90 [[ 9.98889971e-01 -4.70086820e-02 3.00152186e-03 1.43432851e+02] [ 4.70086774e-02 9.98894478e-01 7.21064552e-05 8.84798601e+00] [-3.00159324e-03 6.90711579e-05 9.99995493e-01 -8.95935077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964391418 meters 0.05840262730642982 Centerline is valid? [True, True] Translation: X:143.49, Y:8.85, Z:-0.90 [[ 9.98772619e-01 -4.94372275e-02 3.03582345e-03 1.43493719e+02] [ 4.94372341e-02 9.98777230e-01 7.29263731e-05 8.84566228e+00] [-3.03571661e-03 7.72458499e-05 9.99995389e-01 -8.96422047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters 0.059183126320336746 Centerline is valid? [True, True] Translation: X:143.56, Y:8.84, Z:-0.90 [[ 9.98703428e-01 -5.07900709e-02 3.43982379e-03 1.43555896e+02] [ 5.07900875e-02 9.98709347e-01 8.26076228e-05 8.84498402e+00] [-3.43957982e-03 9.22084352e-05 9.99994080e-01 -8.96369475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters 0.05984366951024097 Centerline is valid? [True, True] Translation: X:143.62, Y:8.84, Z:-0.90 [[ 9.98622513e-01 -5.23954278e-02 2.79196897e-03 1.43618083e+02] [ 5.23954450e-02 9.98626413e-01 6.70302084e-05 8.84203096e+00] [-2.79164604e-03 7.93485815e-05 9.99996100e-01 -8.96639589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters 0.059403391772102646 Centerline is valid? [True, True] Translation: X:143.68, Y:8.85, Z:-0.90 [[ 9.98487016e-01 -5.49512765e-02 2.00922459e-03 1.43678812e+02] [ 5.49512909e-02 9.98489035e-01 4.81037922e-05 8.84637260e+00] [-2.00883208e-03 6.23784729e-05 9.99997980e-01 -8.96247708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters 0.06068635705764379 Centerline is valid? [True, True] Translation: X:143.74, Y:8.83, Z:-0.90 [[ 9.98375591e-01 -5.69749504e-02 1.83215697e-04 1.43738776e+02] [ 5.69749505e-02 9.98375608e-01 4.38200073e-06 8.83460308e+00] [-1.83167747e-04 6.06382269e-06 9.99999983e-01 -8.99186790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters 0.057982568035614114 Centerline is valid? [True, True] Translation: X:143.80, Y:8.85, Z:-0.90 [[ 9.98339304e-01 -5.76067414e-02 3.11679425e-04 1.43800780e+02] [ 5.76067419e-02 9.98339353e-01 7.68732498e-06 8.84951543e+00] [-3.11604678e-04 1.02802775e-05 9.99999951e-01 -8.97712510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32439141799998 meters 0.05736314718206498 Centerline is valid? [True, True] Translation: X:143.86, Y:8.86, Z:-0.90 [[ 9.98457508e-01 -5.55161313e-02 7.50985256e-04 1.43861798e+02] [ 5.55161334e-02 9.98457790e-01 1.80177184e-05 8.85772239e+00] [-7.50827353e-04 2.37018714e-05 9.99999718e-01 -8.96340350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38439141799998 meters 0.058400555278251755 Centerline is valid? [True, True] Translation: X:143.92, Y:8.85, Z:-0.90 [[ 9.98611551e-01 -5.26618790e-02 1.30221498e-03 1.43921726e+02] [ 5.26618831e-02 9.98612400e-01 3.11090155e-05 8.85286959e+00] [-1.30204628e-03 3.75112707e-05 9.99999152e-01 -8.97076158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44439141799998 meters 0.058749443581243024 Centerline is valid? [True, True] Translation: X:143.98, Y:8.86, Z:-0.90 [[ 9.98823465e-01 -4.84800671e-02 1.16997780e-03 1.43981668e+02] [ 4.84800676e-02 9.98824150e-01 2.79332960e-05 8.85544962e+00] [-1.16995629e-03 2.88201714e-05 9.99999315e-01 -8.97193933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50439141799998 meters 0.05908088959675366 Centerline is valid? [True, True] Translation: X:144.04, Y:8.86, Z:-0.90 [[ 9.98920982e-01 -4.64353432e-02 7.93596048e-04 1.44043149e+02] [ 4.64353427e-02 9.98921298e-01 1.90073914e-05 8.86037337e+00] [-7.93622609e-04 1.78640224e-05 9.99999685e-01 -8.97061921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56439141799999 meters 0.058365866252757616 Centerline is valid? [True, True] Translation: X:144.10, Y:8.87, Z:-0.90 [[ 9.98817049e-01 -4.85944763e-02 1.75469886e-03 1.44104708e+02] [ 4.85944776e-02 9.98818590e-01 4.19223695e-05 8.86635861e+00] [-1.75466304e-03 4.33958972e-05 9.99998460e-01 -8.96557472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624391418 meters 0.05912940589876437 Centerline is valid? [True, True] Translation: X:144.17, Y:8.87, Z:-0.90 [[ 9.98646014e-01 -5.19851079e-02 1.92031829e-03 1.44165310e+02] [ 5.19851159e-02 9.98647859e-01 4.57473851e-05 8.86900480e+00] [-1.92009993e-03 5.41425253e-05 9.99998155e-01 -8.96578424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684391418 meters 0.06062936516417927 Centerline is valid? [True, True] Translation: X:144.23, Y:8.86, Z:-0.90 [[ 9.98298911e-01 -5.82809639e-02 1.61653919e-03 1.44225189e+02] [ 5.82809777e-02 9.98300218e-01 3.86140284e-05 8.85716315e+00] [-1.61604189e-03 5.56651418e-05 9.99998693e-01 -8.99140990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters 0.0572699830931997 Centerline is valid? [True, True] Translation: X:144.29, Y:8.87, Z:-0.90 [[ 9.97883708e-01 -6.49973270e-02 1.85808859e-03 1.44285172e+02] [ 6.49973573e-02 9.97885435e-01 4.41608261e-05 8.87378529e+00] [-1.85702987e-03 7.67034787e-05 9.99998273e-01 -8.98602954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters 0.05725111842450751 Centerline is valid? [True, True] Translation: X:144.34, Y:8.88, Z:-0.90 [[ 9.97598243e-01 -6.92359954e-02 2.03035958e-03 1.44344688e+02] [ 6.92360404e-02 9.97600305e-01 4.82313733e-05 8.87527854e+00] [-2.02882668e-03 9.24585243e-05 9.99997938e-01 -8.99501175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters 0.05759214416027641 Centerline is valid? [True, True] Translation: X:144.40, Y:8.88, Z:-0.90 [[ 9.97215301e-01 -7.45233888e-02 2.81217598e-03 1.44404814e+02] [ 7.45234958e-02 9.97219256e-01 6.68614815e-05 8.87559231e+00] [-2.80933878e-03 1.42897892e-04 9.99996044e-01 -9.00306183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters 0.05964618251450946 Centerline is valid? [True, True] Translation: X:144.46, Y:8.87, Z:-0.90 [[ 9.96934895e-01 -7.81678766e-02 3.25560155e-03 1.44464837e+02] [ 7.81680397e-02 9.96940195e-01 7.73295556e-05 8.87012503e+00] [-3.25168473e-03 1.77391458e-04 9.99994698e-01 -9.00967574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters 0.06450080267690625 Centerline is valid? [True, True] Translation: X:144.53, Y:8.86, Z:-0.90 [[ 9.96900761e-01 -7.86091429e-02 3.07816670e-03 1.44525942e+02] [ 7.86092906e-02 9.96905499e-01 7.31738169e-05 8.85758626e+00] [-3.07439344e-03 1.69025467e-04 9.99995260e-01 -9.02350891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04439141799998 meters 0.05767286099716461 Centerline is valid? [True, True] Translation: X:144.59, Y:8.89, Z:-0.90 [[ 9.96891310e-01 -7.87291488e-02 3.07216240e-03 1.44587643e+02] [ 7.87292963e-02 9.96896029e-01 7.30579097e-05 8.88736703e+00] [-3.06837828e-03 1.69038388e-04 9.99995278e-01 -9.01655539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10439141799998 meters 0.05806373176151565 Centerline is valid? [True, True] Translation: X:144.65, Y:8.89, Z:-0.90 [[ 9.97002429e-01 -7.72457209e-02 4.38814381e-03 1.44647697e+02] [ 7.72460092e-02 9.97012058e-01 1.04004544e-04 8.89064779e+00] [-4.38306619e-03 2.35273814e-04 9.99990367e-01 -9.02177491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16439141799998 meters 0.05777778280574202 Centerline is valid? [True, True] Translation: X:144.71, Y:8.90, Z:-0.90 [[ 9.97205225e-01 -7.46289778e-02 3.50078005e-03 1.44707650e+02] [ 7.46291452e-02 9.97211354e-01 8.29735030e-05 8.89693322e+00] [-3.49720984e-03 1.78518612e-04 9.99993869e-01 -9.04263233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22439141799998 meters 0.056850531922958324 Centerline is valid? [True, True] Translation: X:144.77, Y:8.91, Z:-0.91 [[ 9.97390878e-01 -7.21393540e-02 2.71117376e-03 1.44768180e+02] [ 7.21394452e-02 9.97394554e-01 6.42627317e-05 8.90512515e+00] [-2.70874582e-03 1.31487509e-04 9.99996323e-01 -9.05741366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28439141799998 meters 0.05711631873363569 Centerline is valid? [True, True] Translation: X:144.83, Y:8.91, Z:-0.91 [[ 9.97792507e-01 -6.63371621e-02 3.08135178e-03 1.44828766e+02] [ 6.63372522e-02 9.97797256e-01 7.30493003e-05 8.91254896e+00] [-3.07941023e-03 1.31520366e-04 9.99995250e-01 -9.06499961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344391418 meters 0.05724732793668651 Centerline is valid? [True, True] Translation: X:144.89, Y:8.93, Z:-0.91 [[ 9.98171179e-01 -6.02859889e-02 4.46059098e-03 1.44889141e+02] [ 6.02861178e-02 9.98181132e-01 1.05681242e-04 8.92617312e+00] [-4.45884885e-03 1.63423743e-04 9.99990046e-01 -9.05535746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404391418 meters 0.05660262689918904 Centerline is valid? [True, True] Translation: X:144.95, Y:8.93, Z:-0.91 [[ 9.98586668e-01 -5.28480799e-02 5.63442220e-03 1.44948291e+02] [ 5.28481673e-02 9.98602550e-01 1.33477221e-04 8.93334769e+00] [-5.63360239e-03 1.64480314e-04 9.99984118e-01 -9.05179531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464391418 meters 0.05717152908127559 Centerline is valid? [True, True] Translation: X:145.01, Y:8.94, Z:-0.91 [[ 9.98870285e-01 -4.71912973e-02 5.57993558e-03 1.45007457e+02] [ 4.71912946e-02 9.98885861e-01 1.32225547e-04 8.93896994e+00] [-5.57995865e-03 1.31248213e-04 9.99984423e-01 -9.06269644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters 0.05678178118148923 Centerline is valid? [True, True] Translation: X:145.07, Y:8.95, Z:-0.91 [[ 9.99183343e-01 -4.00397758e-02 5.42794865e-03 1.45067314e+02] [ 4.00396674e-02 9.99198083e-01 1.28669716e-04 8.95286492e+00] [-5.42874780e-03 8.87686217e-05 9.99985260e-01 -9.06970538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters 0.05587886510897013 Centerline is valid? [True, True] Translation: X:145.13, Y:8.96, Z:-0.91 [[ 9.99282232e-01 -3.74788129e-02 5.50990172e-03 1.45129015e+02] [ 3.74786622e-02 9.99297420e-01 1.30635074e-04 8.95976591e+00] [-5.51092662e-03 7.59624370e-05 9.99984812e-01 -9.08013436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters 0.05631484944757979 Centerline is valid? [True, True] Translation: X:145.19, Y:8.96, Z:-0.91 [[ 9.99248399e-01 -3.84784569e-02 4.69529831e-03 1.45190321e+02] [ 3.84783588e-02 9.99259428e-01 1.11252374e-04 8.96196376e+00] [-4.69610192e-03 6.94986163e-05 9.99988971e-01 -9.09402607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters 0.056010651791800405 Centerline is valid? [True, True] Translation: X:145.25, Y:8.96, Z:-0.91 [[ 9.99029516e-01 -4.39023757e-02 3.55058804e-03 1.45251296e+02] [ 4.39023555e-02 9.99035823e-01 8.36598986e-05 8.96283781e+00] [-3.55083751e-03 7.23004702e-05 9.99993693e-01 -9.10500256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters 0.05605148353232311 Centerline is valid? [True, True] Translation: X:145.31, Y:8.96, Z:-0.91 [[ 9.98683331e-01 -5.12229825e-02 2.79483685e-03 1.45312416e+02] [ 5.12229987e-02 9.98687238e-01 6.58570044e-05 8.96246432e+00] [-2.79454129e-03 7.73896319e-05 9.99996092e-01 -9.11236791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82439141799998 meters 0.056873389024039434 Centerline is valid? [True, True] Translation: X:145.37, Y:8.96, Z:-0.91 [[ 9.98300959e-01 -5.82406268e-02 1.79597433e-03 1.45371709e+02] [ 5.82406450e-02 9.98302572e-01 4.22402873e-05 8.95741679e+00] [-1.79538589e-03 6.24301839e-05 9.99998386e-01 -9.11749858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88439141799998 meters 0.055759105592319926 Centerline is valid? [True, True] Translation: X:145.43, Y:8.96, Z:-0.91 [[ 9.98048633e-01 -6.23771985e-02 2.83035231e-03 1.45432527e+02] [ 6.23772599e-02 9.98052640e-01 6.66416703e-05 8.96217672e+00] [-2.82899752e-03 1.10037994e-04 9.99995992e-01 -9.11253730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94439141799998 meters 0.05757861569946142 Centerline is valid? [True, True] Translation: X:145.49, Y:8.96, Z:-0.91 [[ 9.97835629e-01 -6.56988677e-02 2.77792715e-03 1.45492925e+02] [ 6.56989398e-02 9.97839489e-01 6.54216128e-05 8.96045659e+00] [-2.77622353e-03 1.17226852e-04 9.99996139e-01 -9.11296496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00439141799998 meters 0.05431469153805304 Centerline is valid? [True, True] Translation: X:145.55, Y:8.98, Z:-0.91 [[ 9.97411979e-01 -7.17445718e-02 4.69693102e-03 1.45553636e+02] [ 7.17448450e-02 9.97423012e-01 1.10522699e-04 8.97541518e+00] [-4.69275649e-03 2.26743924e-04 9.99988963e-01 -9.09993189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06439141799999 meters 0.05626320470121248 Centerline is valid? [True, True] Translation: X:145.61, Y:8.97, Z:-0.91 [[ 9.97039602e-01 -7.67454909e-02 4.70771536e-03 1.45613696e+02] [ 7.67458210e-02 9.97050684e-01 1.10753987e-04 8.96856419e+00] [-4.70233069e-03 2.50871369e-04 9.99988913e-01 -9.10024405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124391418 meters 0.061076407326126715 Centerline is valid? [True, True] Translation: X:145.67, Y:8.96, Z:-0.91 [[ 9.96835202e-01 -7.93825219e-02 4.24207611e-03 1.45673884e+02] [ 7.93828136e-02 9.96844200e-01 9.98361660e-05 8.95843644e+00] [-4.23661422e-03 2.37227733e-04 9.99990997e-01 -9.10910288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184391418 meters 0.06338217253645478 Centerline is valid? [True, True] Translation: X:145.74, Y:8.96, Z:-0.91 [[ 9.96872612e-01 -7.89251151e-02 3.97760923e-03 1.45736723e+02] [ 7.89253678e-02 9.96880523e-01 9.36644753e-05 8.95503222e+00] [-3.97259365e-03 2.20562721e-04 9.99992085e-01 -9.11440573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters 0.06377731788733502 Centerline is valid? [True, True] Translation: X:145.80, Y:8.96, Z:-0.91 [[ 9.97232313e-01 -7.42964926e-02 2.78286872e-03 1.45796807e+02] [ 7.42965987e-02 9.97236186e-01 6.53810532e-05 8.96193964e+00] [-2.78003497e-03 1.41557581e-04 9.99996126e-01 -9.12787615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters 0.05780450555437259 Centerline is valid? [True, True] Translation: X:145.86, Y:8.99, Z:-0.91 [[ 9.97815930e-01 -6.59834950e-02 3.08988574e-03 1.45857281e+02] [ 6.59835861e-02 9.97820706e-01 7.25733526e-05 8.98524976e+00] [-3.08794061e-03 1.31466894e-04 9.99995224e-01 -9.12620812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters 0.05790617857996819 Centerline is valid? [True, True] Translation: X:145.92, Y:8.99, Z:-0.91 [[ 9.98518651e-01 -5.43842988e-02 1.68890940e-03 1.45917585e+02] [ 5.43843094e-02 9.98520078e-01 3.97085571e-05 8.99474504e+00] [-1.68856947e-03 5.22004366e-05 9.99998573e-01 -9.14555881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters 0.054924364859901965 Centerline is valid? [True, True] Translation: X:145.98, Y:9.02, Z:-0.91 [[ 9.98949778e-01 -4.57771021e-02 1.94899207e-03 1.45977769e+02] [ 4.57770998e-02 9.98951678e-01 4.57858964e-05 9.01579558e+00] [-1.94904484e-03 4.34813934e-05 9.99998100e-01 -9.12736838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters 0.055334909827466014 Centerline is valid? [True, True] Translation: X:146.04, Y:9.03, Z:-0.91 [[ 9.99473779e-01 -3.23300639e-02 2.63294468e-03 1.46038633e+02] [ 3.23300130e-02 9.99477247e-01 6.19099564e-05 9.02756540e+00] [-2.63356985e-03 2.32457577e-05 9.99996532e-01 -9.11886219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54439141799998 meters 0.0552142241084757 Centerline is valid? [True, True] Translation: X:146.10, Y:9.03, Z:-0.91 [[ 9.99695106e-01 -2.43820659e-02 3.89997882e-03 1.46100468e+02] [ 2.43818940e-02 9.99702713e-01 9.16337904e-05 9.03484218e+00] [-3.90105363e-03 3.48301822e-06 9.99992391e-01 -9.11301183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60439141799998 meters 0.055517439956991814 Centerline is valid? [True, True] Translation: X:146.16, Y:9.04, Z:-0.91 [[ 9.99885469e-01 -1.42573207e-02 5.07715090e-03 1.46162093e+02] [ 1.42568998e-02 9.99898358e-01 1.19085403e-04 9.04399866e+00] [-5.07833269e-03 -4.66873323e-05 9.99987104e-01 -9.10896085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66439141799998 meters 0.055606400659769156 Centerline is valid? [True, True] Translation: X:146.22, Y:9.05, Z:-0.91 [[ 9.99953877e-01 -8.26478185e-03 4.89249807e-03 1.46221950e+02] [ 8.26432025e-03 9.99965843e-01 1.14558145e-04 9.04952484e+00] [-4.89327776e-03 -7.41196907e-05 9.99988025e-01 -9.11364035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72439141799998 meters 0.05525610488249878 Centerline is valid? [True, True] Translation: X:146.28, Y:9.05, Z:-0.91 [[ 9.99927553e-01 -1.12095630e-02 4.38572110e-03 1.46282185e+02] [ 1.12092201e-02 9.99937169e-01 1.02765141e-04 9.04927037e+00] [-4.38659749e-03 -5.35971826e-05 9.99990377e-01 -9.13409736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78439141799998 meters 0.05489691594370416 Centerline is valid? [True, True] Translation: X:146.34, Y:9.04, Z:-0.91 [[ 9.99830891e-01 -1.80245151e-02 3.64768609e-03 1.46344045e+02] [ 1.80243238e-02 9.99837545e-01 8.53210785e-05 9.04485861e+00] [-3.64863138e-03 -1.95595748e-05 9.99993344e-01 -9.14749326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844391418 meters 0.05534512955727894 Centerline is valid? [True, True] Translation: X:146.41, Y:9.03, Z:-0.92 [[ 9.99510046e-01 -3.11222903e-02 3.32734879e-03 1.46405172e+02] [ 3.11222033e-02 9.99515584e-01 7.79298012e-05 9.03408199e+00] [-3.32816232e-03 2.56628060e-05 9.99994461e-01 -9.15151525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904391418 meters 0.05541034253768956 Centerline is valid? [True, True] Translation: X:146.47, Y:9.03, Z:-0.92 [[ 9.99244269e-01 -3.87020035e-02 3.61187284e-03 1.46466670e+02] [ 3.87019527e-02 9.99250795e-01 8.39660248e-05 9.02714626e+00] [-3.61241646e-03 5.58839628e-05 9.99993474e-01 -9.15226869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964391418 meters 0.05476436283436598 Centerline is valid? [True, True] Translation: X:146.53, Y:9.03, Z:-0.92 [[ 9.99009452e-01 -4.42672482e-02 4.53041378e-03 1.46527652e+02] [ 4.42672260e-02 9.99019720e-01 1.05214675e-04 9.02525178e+00] [-4.53063028e-03 9.54383962e-05 9.99989732e-01 -9.15128558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters 0.05628454444592211 Centerline is valid? [True, True] Translation: X:146.59, Y:9.02, Z:-0.91 [[ 9.98774036e-01 -4.91055286e-02 6.25070012e-03 1.46587252e+02] [ 4.91055816e-02 9.98793583e-01 1.45100427e-04 9.01549557e+00] [-6.25028440e-03 1.62021726e-04 9.99980454e-01 -9.14559673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters 0.05470651795509431 Centerline is valid? [True, True] Translation: X:146.65, Y:9.02, Z:-0.91 [[ 9.98722649e-01 -4.98858172e-02 8.02967358e-03 1.46649639e+02] [ 4.98859320e-02 9.98754904e-01 1.86106778e-04 9.01916199e+00] [-8.02895996e-03 2.14698696e-04 9.99967744e-01 -9.14954730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters 0.05545801536665245 Centerline is valid? [True, True] Translation: X:146.71, Y:9.02, Z:-0.92 [[ 9.98873282e-01 -4.67421706e-02 8.20580009e-03 1.46709964e+02] [ 4.67421902e-02 9.98906969e-01 1.89503422e-04 9.01918096e+00] [-8.20568869e-03 1.94267164e-04 9.99966314e-01 -9.15762534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters 0.055203243889256445 Centerline is valid? [True, True] Translation: X:146.77, Y:9.02, Z:-0.92 [[ 9.99190106e-01 -3.94423199e-02 7.96466918e-03 1.46769144e+02] [ 3.94421067e-02 9.99221840e-01 1.83903600e-04 9.02003782e+00] [-7.96572498e-03 1.30388674e-04 9.99968265e-01 -9.17369348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters 0.054776818129355115 Centerline is valid? [True, True] Translation: X:146.83, Y:9.02, Z:-0.92 [[ 9.99533411e-01 -2.97338698e-02 6.98982111e-03 1.46828367e+02] [ 2.97334678e-02 9.99557850e-01 1.61442117e-04 9.02452107e+00] [-6.99153086e-03 4.64648310e-05 9.99975558e-01 -9.18933529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32439141799998 meters 0.05603933643426512 Centerline is valid? [True, True] Translation: X:146.89, Y:9.03, Z:-0.92 [[ 9.99733143e-01 -2.18941520e-02 7.36812491e-03 1.46890634e+02] [ 2.18934924e-02 9.99760294e-01 1.70170076e-04 9.02866447e+00] [-7.37008445e-03 -8.81067808e-06 9.99972841e-01 -9.20805131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38439141799998 meters 0.0550462565803775 Centerline is valid? [True, True] Translation: X:146.95, Y:9.03, Z:-0.92 [[ 9.99794830e-01 -1.90716502e-02 6.82419581e-03 1.46951538e+02] [ 1.90710200e-02 9.99818119e-01 1.57412892e-04 9.03185657e+00] [-6.82595674e-03 -2.72362206e-05 9.99976703e-01 -9.20614235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44439141799998 meters 0.055794079411540125 Centerline is valid? [True, True] Translation: X:147.01, Y:9.03, Z:-0.92 [[ 9.99793125e-01 -1.91112850e-02 6.96182262e-03 1.47014414e+02] [ 1.91106318e-02 9.99817362e-01 1.60347635e-04 9.03180017e+00] [-6.96361558e-03 -2.72696346e-05 9.99975753e-01 -9.20827891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50439141799998 meters 0.05546238776795982 Centerline is valid? [True, True] Translation: X:147.08, Y:9.03, Z:-0.92 [[ 9.99722437e-01 -2.22703991e-02 7.68624093e-03 1.47076171e+02] [ 2.22696994e-02 9.99751984e-01 1.76606957e-04 9.02838306e+00] [-7.68826773e-03 -5.38766221e-06 9.99970445e-01 -9.20288063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56439141799999 meters 0.05447645081894177 Centerline is valid? [True, True] Translation: X:147.14, Y:9.02, Z:-0.92 [[ 9.99598287e-01 -2.70920079e-02 8.32391455e-03 1.47138491e+02] [ 2.70913600e-02 9.99632944e-01 1.90598255e-04 9.02204822e+00] [-8.32602290e-03 3.49844765e-05 9.99965337e-01 -9.20982956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624391418 meters 0.05523460459344779 Centerline is valid? [True, True] Translation: X:147.20, Y:9.02, Z:-0.92 [[ 9.99452392e-01 -3.15360903e-02 1.00195180e-02 1.47200863e+02] [ 3.15353840e-02 9.99502610e-01 2.28520080e-04 9.01857410e+00] [-1.00217410e-02 8.75744075e-05 9.99949777e-01 -9.21817815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684391418 meters 0.05510549850226095 Centerline is valid? [True, True] Translation: X:147.26, Y:9.01, Z:-0.92 [[ 9.99392376e-01 -3.33409727e-02 1.01616326e-02 1.47263144e+02] [ 3.33403438e-02 9.99444029e-01 2.31328829e-04 9.01414077e+00] [-1.01636957e-02 1.07604055e-04 9.99948343e-01 -9.21905821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters 0.05619370485753591 Centerline is valid? [True, True] Translation: X:147.32, Y:9.01, Z:-0.92 [[ 9.99349070e-01 -3.43602139e-02 1.09914423e-02 1.47324598e+02] [ 3.43595472e-02 9.99409505e-01 2.49539663e-04 9.01028552e+00] [-1.09935261e-02 1.28283749e-04 9.99939561e-01 -9.22755099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters 0.055282999407899394 Centerline is valid? [True, True] Translation: X:147.39, Y:9.01, Z:-0.92 [[ 9.99445215e-01 -3.13784918e-02 1.11648155e-02 1.47387009e+02] [ 3.13776238e-02 9.99507569e-01 2.52951768e-04 9.01007516e+00] [-1.11672548e-02 9.75139456e-05 9.99937640e-01 -9.23210280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters 0.05489078101963187 Centerline is valid? [True, True] Translation: X:147.45, Y:9.01, Z:-0.92 [[ 9.99565599e-01 -2.72159872e-02 1.13094421e-02 1.47448274e+02] [ 2.72148340e-02 9.99629575e-01 2.55877634e-04 9.01175711e+00] [-1.13122168e-02 5.20181108e-05 9.99936013e-01 -9.23483074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters 0.05592791366992617 Centerline is valid? [True, True] Translation: X:147.51, Y:9.01, Z:-0.92 [[ 9.99733311e-01 -2.03665475e-02 1.08862696e-02 1.47509259e+02] [ 2.03650760e-02 9.99792580e-01 2.46013853e-04 9.01428117e+00] [-1.08890220e-02 -2.42485371e-05 9.99940713e-01 -9.24658502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters 0.05601759268644563 Centerline is valid? [True, True] Translation: X:147.57, Y:9.01, Z:-0.93 [[ 9.99789161e-01 -1.77233598e-02 1.03690356e-02 1.47571261e+02] [ 1.77218860e-02 9.99842928e-01 2.34012981e-04 9.01219635e+00] [-1.03715544e-02 -5.02047756e-05 9.99946213e-01 -9.27166733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04439141799998 meters 0.05630901823535145 Centerline is valid? [True, True] Translation: X:147.63, Y:9.01, Z:-0.93 [[ 9.99792826e-01 -1.86775077e-02 8.09042896e-03 1.47632920e+02] [ 1.86766451e-02 9.99825560e-01 1.82170269e-04 9.00885200e+00] [-8.09242015e-03 -3.10304576e-05 9.99967255e-01 -9.28571753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10439141799998 meters 0.05635588390127106 Centerline is valid? [True, True] Translation: X:147.70, Y:9.00, Z:-0.93 [[ 9.99678876e-01 -2.46541264e-02 5.85817446e-03 1.47695361e+02] [ 2.46537794e-02 9.99696041e-01 1.31454390e-04 9.00003243e+00] [-5.85963471e-03 1.30139638e-05 9.99982832e-01 -9.30567108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16439141799998 meters 0.05566805172110925 Centerline is valid? [True, True] Translation: X:147.76, Y:8.99, Z:-0.93 [[ 9.99454227e-01 -3.26653750e-02 4.92142591e-03 1.47757560e+02] [ 3.26652296e-02 9.99466343e-01 1.09950920e-04 8.98909029e+00] [-4.92239114e-03 5.08685952e-05 9.99987884e-01 -9.32151964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22439141799998 meters 0.055980455369181746 Centerline is valid? [True, True] Translation: X:147.82, Y:8.98, Z:-0.93 [[ 9.99278836e-01 -3.76628900e-02 4.82857045e-03 1.47819014e+02] [ 3.76628094e-02 9.99290499e-01 1.07653241e-04 8.98281873e+00] [-4.82919911e-03 7.42819235e-05 9.99988337e-01 -9.31922898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28439141799998 meters 0.05705818874206361 Centerline is valid? [True, True] Translation: X:147.88, Y:8.97, Z:-0.93 [[ 9.99263420e-01 -3.80406707e-02 5.05220786e-03 1.47880556e+02] [ 3.80405877e-02 9.99276189e-01 1.12555387e-04 8.96993391e+00] [-5.05283269e-03 7.97164754e-05 9.99987231e-01 -9.32533128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344391418 meters 0.05669348038971891 Centerline is valid? [True, True] Translation: X:147.94, Y:8.97, Z:-0.93 [[ 9.99349942e-01 -3.56199800e-02 5.55971794e-03 1.47943250e+02] [ 3.56198428e-02 9.99365404e-01 1.23712475e-04 8.97371277e+00] [-5.56059640e-03 7.44042245e-05 9.99984537e-01 -9.32477398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404391418 meters 0.05663683011754923 Centerline is valid? [True, True] Translation: X:148.00, Y:8.97, Z:-0.93 [[ 9.99496537e-01 -3.14432219e-02 4.24222432e-03 1.48004835e+02] [ 3.14431050e-02 9.99505539e-01 9.42488145e-05 8.96829913e+00] [-4.24309019e-03 3.91873411e-05 9.99990997e-01 -9.34000641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464391418 meters 0.05703904919638015 Centerline is valid? [True, True] Translation: X:148.07, Y:8.97, Z:-0.94 [[ 9.99579988e-01 -2.87418000e-02 3.70886987e-03 1.48067565e+02] [ 2.87416921e-02 9.99586869e-01 8.23945465e-05 8.96552332e+00] [-3.70970579e-03 2.42392561e-05 9.99993119e-01 -9.35026940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters 0.05687897193984828 Centerline is valid? [True, True] Translation: X:148.13, Y:8.96, Z:-0.94 [[ 9.99697384e-01 -2.45240797e-02 1.92624412e-03 1.48128734e+02] [ 2.45240426e-02 9.99699240e-01 4.28890487e-05 8.96151280e+00] [-1.92671659e-03 4.36322304e-06 9.99998144e-01 -9.36108466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters 0.0574630916781362 Centerline is valid? [True, True] Translation: X:148.19, Y:8.96, Z:-0.94 [[ 9.99815097e-01 -1.91960173e-02 1.13337260e-03 1.48190621e+02] [ 1.91960011e-02 9.99815739e-01 2.51628422e-05 8.95738718e+00] [-1.13364679e-03 -3.40196776e-06 9.99999357e-01 -9.36333132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters 0.05746691319182888 Centerline is valid? [True, True] Translation: X:148.25, Y:8.95, Z:-0.94 [[ 9.99882604e-01 -1.53184569e-02 3.51207659e-04 1.48252644e+02] [ 1.53184550e-02 9.99882666e-01 7.92317375e-06 8.95437214e+00] [-3.51287822e-04 -2.54228486e-06 9.99999938e-01 -9.36772121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters 0.05709886708201153 Centerline is valid? [True, True] Translation: X:148.31, Y:8.95, Z:-0.94 [[ 9.99934871e-01 -1.14094811e-02 -2.77786994e-04 1.48313729e+02] [ 1.14094799e-02 9.99934910e-01 -5.95440851e-06 8.94688647e+00] [ 2.77836849e-04 2.78461558e-06 9.99999961e-01 -9.35807108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters 0.05799649795888841 Centerline is valid? [True, True] Translation: X:148.38, Y:8.94, Z:-0.93 [[ 9.99928714e-01 -1.19260984e-02 -5.79249000e-04 1.48375702e+02] [ 1.19260933e-02 9.99928882e-01 -1.23668105e-05 8.93796701e+00] [ 5.79355293e-04 5.45775135e-06 9.99999832e-01 -9.34614938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82439141799998 meters 0.057845847224579694 Centerline is valid? [True, True] Translation: X:148.44, Y:8.94, Z:-0.94 [[ 9.99912031e-01 -1.32592370e-02 -3.51391994e-04 1.48437495e+02] [ 1.32592352e-02 9.99912092e-01 -7.48160841e-06 8.93931797e+00] [ 3.51460304e-04 2.82176115e-06 9.99999938e-01 -9.37771491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88439141799998 meters 0.059022911068024105 Centerline is valid? [True, True] Translation: X:148.50, Y:8.93, Z:-0.94 [[ 9.99809978e-01 -1.94740988e-02 8.76415477e-04 1.48499670e+02] [ 1.94740893e-02 9.99810362e-01 1.93086244e-05 8.92793939e+00] [-8.76625293e-04 -2.23756205e-06 9.99999616e-01 -9.36900866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94439141799998 meters 0.058442856307466914 Centerline is valid? [True, True] Translation: X:148.56, Y:8.92, Z:-0.93 [[ 9.99696452e-01 -2.45600794e-02 1.95093098e-03 1.48562583e+02] [ 2.45600419e-02 9.99698356e-01 4.31787403e-05 8.92228372e+00] [-1.95140297e-03 4.74931330e-06 9.99998096e-01 -9.34101087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00439141799998 meters 0.05887687203387466 Centerline is valid? [True, True] Translation: X:148.62, Y:8.91, Z:-0.94 [[ 9.99531933e-01 -3.05388055e-02 1.81580836e-03 1.48623803e+02] [ 3.05387835e-02 9.99533582e-01 3.98528720e-05 8.91055638e+00] [-1.81617850e-03 1.56183604e-05 9.99998351e-01 -9.35662754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06439141799999 meters 0.058630683039337814 Centerline is valid? [True, True] Translation: X:148.69, Y:8.91, Z:-0.93 [[ 9.99401080e-01 -3.45060151e-02 2.61081630e-03 1.48686097e+02] [ 3.45059851e-02 9.99404490e-01 5.65815144e-05 8.90770739e+00] [-2.61121393e-03 3.35411616e-05 9.99996590e-01 -9.34846201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124391418 meters 0.05909035347982631 Centerline is valid? [True, True] Translation: X:148.75, Y:8.90, Z:-0.94 [[ 9.99378525e-01 -3.51832412e-02 2.16851383e-03 1.48747978e+02] [ 3.51832222e-02 9.99380878e-01 4.69376594e-05 8.90035167e+00] [-2.16882267e-03 2.93868151e-05 9.99997648e-01 -9.36368611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184391418 meters 0.059072592766371314 Centerline is valid? [True, True] Translation: X:148.81, Y:8.90, Z:-0.94 [[ 9.99478035e-01 -3.22646352e-02 1.62842063e-03 1.48809490e+02] [ 3.22646206e-02 9.99479361e-01 3.52428094e-05 8.90259427e+00] [-1.62870990e-03 1.73159597e-05 9.99998674e-01 -9.35642587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters 0.05864534904144965 Centerline is valid? [True, True] Translation: X:148.87, Y:8.90, Z:-0.94 [[ 9.99651932e-01 -2.62117203e-02 2.99327540e-03 1.48871310e+02] [ 2.62116447e-02 9.99656414e-01 6.44962765e-05 8.90136388e+00] [-2.99393751e-03 1.39848438e-05 9.99995518e-01 -9.35696024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters 0.05957113514379406 Centerline is valid? [True, True] Translation: X:148.93, Y:8.90, Z:-0.94 [[ 9.99791620e-01 -2.01562367e-02 3.23162037e-03 1.48933808e+02] [ 2.01561172e-02 9.99796842e-01 6.95375504e-05 8.90043312e+00] [-3.23236546e-03 -4.38614116e-06 9.99994776e-01 -9.35997501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters 0.05842760848130287 Centerline is valid? [True, True] Translation: X:148.99, Y:8.90, Z:-0.94 [[ 9.99824326e-01 -1.85357266e-02 2.78264688e-03 1.48994680e+02] [ 1.85356321e-02 9.99828199e-01 5.97474981e-05 8.90053309e+00] [-2.78327628e-03 -8.15888320e-06 9.99996127e-01 -9.37242155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters 0.05905350290076908 Centerline is valid? [True, True] Translation: X:149.06, Y:8.90, Z:-0.94 [[ 9.99752843e-01 -2.22160952e-02 8.35866553e-04 1.49056815e+02] [ 2.22160878e-02 9.99753192e-01 1.81030797e-05 8.89659932e+00] [-8.36062435e-04 4.71079338e-07 9.99999650e-01 -9.39025571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters 0.05982833187976866 Centerline is valid? [True, True] Translation: X:149.12, Y:8.89, Z:-0.94 [[ 9.99477153e-01 -3.23305711e-02 -3.93279121e-04 1.49118291e+02] [ 3.23305703e-02 9.99477230e-01 -8.29784748e-06 8.89040658e+00] [ 3.93341801e-04 -4.42142930e-06 9.99999923e-01 -9.39701990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54439141799998 meters 0.05880220901965524 Centerline is valid? [True, True] Translation: X:149.18, Y:8.89, Z:-0.94 [[ 9.99215814e-01 -3.95928934e-02 4.00864493e-04 1.49179398e+02] [ 3.95928932e-02 9.99215894e-01 8.61115973e-06 8.88689896e+00] [-4.00891114e-04 7.26697807e-06 9.99999920e-01 -9.38794739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60439141799998 meters 0.059401387521463817 Centerline is valid? [True, True] Translation: X:149.24, Y:8.88, Z:-0.94 [[ 9.98878133e-01 -4.73104089e-02 2.04975737e-03 1.49239472e+02] [ 4.73104186e-02 9.98880234e-01 4.37454181e-05 8.87739171e+00] [-2.04953174e-03 5.32785379e-05 9.99997898e-01 -9.38427988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66439141799998 meters 0.06003492054357654 Centerline is valid? [True, True] Translation: X:149.30, Y:8.87, Z:-0.94 [[ 9.98662211e-01 -5.15878140e-02 3.53366171e-03 1.49299744e+02] [ 5.15878695e-02 9.98668457e-01 7.54920419e-05 8.87479587e+00] [-3.53285095e-03 1.06903030e-04 9.99993754e-01 -9.37730878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72439141799998 meters 0.059129912591208145 Centerline is valid? [True, True] Translation: X:149.36, Y:8.88, Z:-0.94 [[ 9.98622835e-01 -5.23280668e-02 3.76907054e-03 1.49361736e+02] [ 5.23281350e-02 9.98629941e-01 8.05841127e-05 8.88184901e+00] [-3.76812350e-03 1.16755297e-04 9.99992894e-01 -9.37278499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78439141799998 meters 0.06027674522064928 Centerline is valid? [True, True] Translation: X:149.42, Y:8.88, Z:-0.94 [[ 9.98721380e-01 -5.03602512e-02 4.41020697e-03 1.49423335e+02] [ 5.03603261e-02 9.98731109e-01 9.41184981e-05 8.88140454e+00] [-4.40935073e-03 1.28101305e-04 9.99990271e-01 -9.37686321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844391418 meters 0.05926122065370418 Centerline is valid? [True, True] Translation: X:149.48, Y:8.89, Z:-0.94 [[ 9.98995570e-01 -4.46296694e-02 4.00540757e-03 1.49483994e+02] [ 4.46296859e-02 9.99003596e-01 8.53154999e-05 8.88621288e+00] [-4.00522417e-03 9.35302752e-05 9.99991975e-01 -9.38060941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904391418 meters 0.05947292476103546 Centerline is valid? [True, True] Translation: X:149.54, Y:8.90, Z:-0.94 [[ 9.99211377e-01 -3.94958250e-02 4.08705211e-03 1.49543919e+02] [ 3.94957994e-02 9.99219733e-01 8.70007896e-05 8.89592479e+00] [-4.08729929e-03 7.44892119e-05 9.99991644e-01 -9.37909515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964391418 meters 0.058741744399102104 Centerline is valid? [True, True] Translation: X:149.60, Y:8.90, Z:-0.94 [[ 9.99501791e-01 -3.14653613e-02 2.47000101e-03 1.49604154e+02] [ 3.14653274e-02 9.99504843e-01 5.26091659e-05 8.90059327e+00] [-2.47043334e-03 2.51364350e-05 9.99996948e-01 -9.39081730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters 0.05909229105186124 Centerline is valid? [True, True] Translation: X:149.67, Y:8.90, Z:-0.94 [[ 9.99549562e-01 -2.99766858e-02 1.43955771e-03 1.49666502e+02] [ 2.99766725e-02 9.99550598e-01 3.08060901e-05 8.90435653e+00] [-1.43983424e-03 1.23609363e-05 9.99998963e-01 -9.39939976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters 0.058801441508246864 Centerline is valid? [True, True] Translation: X:149.73, Y:8.91, Z:-0.94 [[ 9.99519429e-01 -3.09768462e-02 1.16060127e-03 1.49728423e+02] [ 3.09768378e-02 9.99520102e-01 2.51844527e-05 8.90777138e+00] [-1.16082443e-03 1.07794074e-05 9.99999326e-01 -9.39279021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters 0.05986510567003286 Centerline is valid? [True, True] Translation: X:149.79, Y:8.90, Z:-0.94 [[ 9.99446497e-01 -3.32234998e-02 1.70227177e-03 1.49790023e+02] [ 3.32234865e-02 9.99447947e-01 3.61157306e-05 8.90231158e+00] [-1.70253192e-03 2.04596628e-05 9.99998550e-01 -9.41438977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters 0.059504704143928354 Centerline is valid? [True, True] Translation: X:149.85, Y:8.90, Z:-0.94 [[ 9.99247468e-01 -3.87717193e-02 1.11901290e-03 1.49849898e+02] [ 3.87717171e-02 9.99248094e-01 2.36072186e-05 8.90284888e+00] [-1.11908680e-03 1.97965984e-05 9.99999374e-01 -9.40659313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters 0.059954535228215554 Centerline is valid? [True, True] Translation: X:149.91, Y:8.90, Z:-0.94 [[ 9.99076382e-01 -4.29432833e-02 1.50270551e-03 1.49911071e+02] [ 4.29432841e-02 9.99077511e-01 3.17633363e-05 8.90412214e+00] [-1.50268330e-03 3.27971105e-05 9.99998870e-01 -9.40205529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32439141799998 meters 0.0598123842990256 Centerline is valid? [True, True] Translation: X:149.97, Y:8.90, Z:-0.94 [[ 9.98872931e-01 -4.73381849e-02 3.45885479e-03 1.49972169e+02] [ 4.73382159e-02 9.98878916e-01 7.29626003e-05 8.89689221e+00] [-3.45843104e-03 9.08556486e-05 9.99994015e-01 -9.41104024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38439141799998 meters 0.06038860775099438 Centerline is valid? [True, True] Translation: X:150.03, Y:8.89, Z:-0.94 [[ 9.98856973e-01 -4.76999584e-02 3.07587969e-03 1.50033199e+02] [ 4.76999846e-02 9.98861706e-01 6.48699322e-05 8.89493662e+00] [-3.07547273e-03 8.19236298e-05 9.99995267e-01 -9.40986597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44439141799998 meters 0.05927229913493112 Centerline is valid? [True, True] Translation: X:150.09, Y:8.90, Z:-0.94 [[ 9.98985090e-01 -4.49727848e-02 2.49783656e-03 1.50094899e+02] [ 4.49727936e-02 9.98988211e-01 5.26497672e-05 8.90246454e+00] [-2.49767708e-03 5.97383557e-05 9.99996879e-01 -9.41057209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50439141799998 meters 0.060270389654625715 Centerline is valid? [True, True] Translation: X:150.15, Y:8.90, Z:-0.94 [[ 9.99178839e-01 -4.04703974e-02 1.94793141e-03 1.50154905e+02] [ 4.04703945e-02 9.99180737e-01 4.09426232e-05 8.90391174e+00] [-1.94799250e-03 3.79245498e-05 9.99998102e-01 -9.41607382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56439141799999 meters 0.05994663957021669 Centerline is valid? [True, True] Translation: X:150.22, Y:8.91, Z:-0.94 [[ 9.99475820e-01 -3.22340715e-02 3.00843807e-03 1.50215329e+02] [ 3.22340271e-02 9.99480347e-01 6.32638469e-05 8.91341555e+00] [-3.00891397e-03 3.37433890e-05 9.99995473e-01 -9.40859160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624391418 meters 0.0593027882464433 Centerline is valid? [True, True] Translation: X:150.28, Y:8.92, Z:-0.94 [[ 9.99680522e-01 -2.51086112e-02 2.90029800e-03 1.50275972e+02] [ 2.51085399e-02 9.99684729e-01 6.09836299e-05 8.91955718e+00] [-2.90091483e-03 1.18581011e-05 9.99995792e-01 -9.40867392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684391418 meters 0.05936275839815223 Centerline is valid? [True, True] Translation: X:150.34, Y:8.92, Z:-0.94 [[ 9.99716490e-01 -2.37055017e-02 2.23363309e-03 1.50337926e+02] [ 2.37054559e-02 9.99718985e-01 4.69991141e-05 8.92139521e+00] [-2.23411954e-03 5.96350124e-06 9.99997504e-01 -9.41456474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters 0.05953030697262603 Centerline is valid? [True, True] Translation: X:150.40, Y:8.92, Z:-0.94 [[ 9.99687865e-01 -2.49674953e-02 8.93151111e-04 1.50399243e+02] [ 2.49674885e-02 9.99688264e-01 1.88362125e-05 8.92135552e+00] [-8.93342976e-04 3.46940700e-06 9.99999601e-01 -9.42901126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters 0.05925944813589217 Centerline is valid? [True, True] Translation: X:150.46, Y:8.92, Z:-0.94 [[ 9.99406737e-01 -3.44368668e-02 5.26372492e-04 1.50460038e+02] [ 3.44368657e-02 9.99406875e-01 1.11129294e-05 8.91929648e+00] [-5.26442982e-04 7.02028234e-06 9.99999861e-01 -9.41638294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters 0.0592616775767171 Centerline is valid? [True, True] Translation: X:150.52, Y:8.91, Z:-0.94 [[ 9.99102046e-01 -4.23676428e-02 2.90412751e-04 1.50519800e+02] [ 4.23676428e-02 9.99102088e-01 6.03623784e-06 8.91368477e+00] [-2.90407727e-04 6.27328613e-06 9.99999958e-01 -9.41971005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters 0.06191212089763532 Centerline is valid? [True, True] Translation: X:150.58, Y:8.90, Z:-0.94 [[ 9.98614430e-01 -5.26134338e-02 1.02315214e-03 1.50579746e+02] [ 5.26134394e-02 9.98614954e-01 2.14309403e-05 8.90145726e+00] [-1.02286258e-03 3.24303069e-05 9.99999476e-01 -9.42205571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters 0.061124671642966304 Centerline is valid? [True, True] Translation: X:150.64, Y:8.90, Z:-0.94 [[ 9.98319053e-01 -5.79416689e-02 1.35298019e-03 1.50640915e+02] [ 5.79416836e-02 9.98319969e-01 2.83735044e-05 8.90055187e+00] [-1.35235115e-03 5.00681399e-05 9.99999084e-01 -9.42042512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04439141799998 meters 0.06071961648242528 Centerline is valid? [True, True] Translation: X:150.70, Y:8.90, Z:-0.94 [[ 9.98312927e-01 -5.80421217e-02 1.55291271e-03 1.50703370e+02] [ 5.80421411e-02 9.98314133e-01 3.26107797e-05 8.90435490e+00] [-1.55218751e-03 5.75786157e-05 9.99998794e-01 -9.42885137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10439141799998 meters 0.06001426623078798 Centerline is valid? [True, True] Translation: X:150.76, Y:8.92, Z:-0.94 [[ 9.98540010e-01 -5.39654589e-02 2.36179257e-03 1.50763755e+02] [ 5.39654930e-02 9.98542800e-01 4.93527137e-05 8.91658131e+00] [-2.36101431e-03 7.81746410e-05 9.99997210e-01 -9.42454890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16439141799998 meters 0.05990704772470272 Centerline is valid? [True, True] Translation: X:150.82, Y:8.92, Z:-0.94 [[ 9.98800884e-01 -4.89266078e-02 1.72675991e-03 1.50822998e+02] [ 4.89266187e-02 9.98802375e-01 3.60051118e-05 8.91727794e+00] [-1.72645351e-03 4.85225861e-05 9.99998509e-01 -9.43510560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22439141799998 meters 0.05866348101924902 Centerline is valid? [True, True] Translation: X:150.88, Y:8.93, Z:-0.94 [[ 9.99154428e-01 -4.10488585e-02 2.32806700e-03 1.50883087e+02] [ 4.10488566e-02 9.99157139e-01 4.86113276e-05 8.93204162e+00] [-2.32810020e-03 4.69942651e-05 9.99997289e-01 -9.43019866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28439141799998 meters 0.05929052643278073 Centerline is valid? [True, True] Translation: X:150.94, Y:8.94, Z:-0.94 [[ 9.99454800e-01 -3.29595017e-02 1.94248176e-03 1.50942740e+02] [ 3.29594851e-02 9.99456688e-01 4.05639590e-05 8.93616744e+00] [-1.94276335e-03 2.34813550e-05 9.99998113e-01 -9.44784682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344391418 meters 0.05884489733679817 Centerline is valid? [True, True] Translation: X:151.00, Y:8.94, Z:-0.95 [[ 9.99604117e-01 -2.80575098e-02 2.09425932e-03 1.51003836e+02] [ 2.80574796e-02 9.99606310e-01 4.38197752e-05 8.94241221e+00] [-2.09466431e-03 1.49572105e-05 9.99997806e-01 -9.45224836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404391418 meters 0.05855608156961472 Centerline is valid? [True, True] Translation: X:151.07, Y:8.95, Z:-0.95 [[ 9.99743412e-01 -2.25563486e-02 2.07892343e-03 1.51066160e+02] [ 2.25563068e-02 9.99745573e-01 4.35442143e-05 8.94861022e+00] [-2.07937670e-03 3.35979349e-06 9.99997838e-01 -9.45959405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464391418 meters 0.05899909459590786 Centerline is valid? [True, True] Translation: X:151.13, Y:8.95, Z:-0.95 [[ 9.99797644e-01 -1.99150804e-02 2.83897604e-03 1.51127847e+02] [ 1.99149926e-02 9.99801675e-01 5.91903842e-05 8.95110515e+00] [-2.83959179e-03 -2.64021981e-06 9.99995968e-01 -9.46091829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters 0.05882710329408044 Centerline is valid? [True, True] Translation: X:151.19, Y:8.95, Z:-0.95 [[ 9.99813374e-01 -1.90373759e-02 3.28555484e-03 1.51189774e+02] [ 1.90372540e-02 9.99818773e-01 6.83701218e-05 8.95263682e+00] [-3.28626100e-03 -5.80942010e-06 9.99994600e-01 -9.46145970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters 0.05894850965979283 Centerline is valid? [True, True] Translation: X:151.25, Y:8.95, Z:-0.95 [[ 9.99816131e-01 -1.88571022e-02 3.48063622e-03 1.51251388e+02] [ 1.88569648e-02 9.99822189e-01 7.22918778e-05 8.95285733e+00] [-3.48138054e-03 -6.64435076e-06 9.99993940e-01 -9.46351054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters 0.059710012281231774 Centerline is valid? [True, True] Translation: X:151.31, Y:8.95, Z:-0.95 [[ 9.99819576e-01 -1.85406181e-02 4.13051177e-03 1.51313636e+02] [ 1.85404223e-02 9.99828108e-01 8.56927046e-05 8.95196769e+00] [-4.13139056e-03 -9.09581125e-06 9.99991466e-01 -9.46706807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters 0.059416826766829064 Centerline is valid? [True, True] Translation: X:151.38, Y:8.95, Z:-0.95 [[ 9.99843126e-01 -1.73548386e-02 3.54014798e-03 1.51376166e+02] [ 1.73546878e-02 9.99849393e-01 7.33328430e-05 8.95038226e+00] [-3.54088749e-03 -1.18831761e-05 9.99993731e-01 -9.47912410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76439141799997 meters 0.05894415378378193 Centerline is valid? [True, True] Translation: X:151.44, Y:8.95, Z:-0.95 [[ 9.99869131e-01 -1.54069190e-02 4.93429684e-03 1.51438546e+02] [ 1.54066031e-02 9.99881306e-01 1.02015026e-04 8.94689115e+00] [-4.93528291e-03 -2.59809225e-05 9.99987821e-01 -9.48476900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82439141799998 meters 0.0585621649340128 Centerline is valid? [True, True] Translation: X:151.50, Y:8.95, Z:-0.95 [[ 9.99913812e-01 -1.24972879e-02 4.02313566e-03 1.51499644e+02] [ 1.24970550e-02 9.99921905e-01 8.30272350e-05 8.94833930e+00] [-4.02385909e-03 -3.27427315e-05 9.99991904e-01 -9.48484322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88439141799998 meters 0.059400831952620976 Centerline is valid? [True, True] Translation: X:151.56, Y:8.94, Z:-0.95 [[ 9.99952431e-01 -8.07429024e-03 5.47183425e-03 1.51561242e+02] [ 8.07379417e-03 9.99967400e-01 1.12741819e-04 8.94490964e+00] [-5.47256618e-03 -6.85579922e-05 9.99985023e-01 -9.48928173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94439141799998 meters 0.06060237994330679 Centerline is valid? [True, True] Translation: X:151.62, Y:8.94, Z:-0.95 [[ 9.99983081e-01 -4.21450824e-03 4.00956322e-03 1.51621442e+02] [ 4.21421109e-03 9.99991117e-01 8.25576131e-05 8.93975810e+00] [-4.00987554e-03 -6.56590705e-05 9.99991958e-01 -9.50382884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00439141799998 meters 0.059491864584638204 Centerline is valid? [True, True] Translation: X:151.68, Y:8.94, Z:-0.95 [[ 9.99988980e-01 -3.89350868e-03 2.62296919e-03 1.51683709e+02] [ 3.89338052e-03 9.99992419e-01 5.39629002e-05 8.93664119e+00] [-2.62315941e-03 -4.37500884e-05 9.99996559e-01 -9.51319773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06439141799999 meters 0.05940414719335202 Centerline is valid? [True, True] Translation: X:151.75, Y:8.92, Z:-0.95 [[ 9.99976867e-01 -6.37197519e-03 2.37960224e-03 1.51745925e+02] [ 6.37187683e-03 9.99979698e-01 4.89141871e-05 8.92488100e+00] [-2.37986561e-03 -3.37505232e-05 9.99997168e-01 -9.50811376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124391418 meters 0.059361738136091115 Centerline is valid? [True, True] Translation: X:151.81, Y:8.91, Z:-0.95 [[ 9.99954370e-01 -9.08764295e-03 2.94479786e-03 1.51806201e+02] [ 9.08750438e-03 9.99958706e-01 6.04335224e-05 8.91396738e+00] [-2.94522546e-03 -3.36699014e-05 9.99995662e-01 -9.50402021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184391418 meters 0.059287230075663784 Centerline is valid? [True, True] Translation: X:151.87, Y:8.91, Z:-0.95 [[ 9.99947284e-01 -9.71726750e-03 3.31728975e-03 1.51868636e+02] [ 9.71709575e-03 9.99952786e-01 6.78865430e-05 8.90824179e+00] [-3.31779280e-03 -3.56485421e-05 9.99994495e-01 -9.50991516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters 0.060064234999326026 Centerline is valid? [True, True] Translation: X:151.93, Y:8.90, Z:-0.95 [[ 9.99967546e-01 -7.73912504e-03 2.23884660e-03 1.51930033e+02] [ 7.73904202e-03 9.99970052e-01 4.57440269e-05 8.89815172e+00] [-2.23913357e-03 -2.84160144e-05 9.99997493e-01 -9.51223019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters 0.05967700086117298 Centerline is valid? [True, True] Translation: X:151.99, Y:8.89, Z:-0.95 [[ 9.99982245e-01 -5.82297821e-03 1.26629564e-03 1.51990991e+02] [ 5.82295013e-03 9.99983046e-01 2.58611781e-05 8.89099182e+00] [-1.26642476e-03 -1.84871426e-05 9.99999198e-01 -9.51739675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters 0.060349126871217976 Centerline is valid? [True, True] Translation: X:152.05, Y:8.88, Z:-0.95 [[ 9.99966299e-01 -8.02406419e-03 1.73635428e-03 1.52052333e+02] [ 8.02401475e-03 9.99967806e-01 3.54343804e-05 8.88273226e+00] [-1.73658271e-03 -2.15006538e-05 9.99998492e-01 -9.50525897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters 0.05978201307097622 Centerline is valid? [True, True] Translation: X:152.11, Y:8.87, Z:-0.95 [[ 9.99850345e-01 -1.71737201e-02 2.08609834e-03 1.52113845e+02] [ 1.71736688e-02 9.99852521e-01 4.25019454e-05 8.87008535e+00] [-2.08652060e-03 -6.66962275e-06 9.99997823e-01 -9.48887308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters 0.06060277811835029 Centerline is valid? [True, True] Translation: X:152.18, Y:8.86, Z:-0.95 [[ 9.99677705e-01 -2.52729871e-02 2.40063114e-03 1.52175112e+02] [ 2.52729427e-02 9.99680587e-01 4.88353154e-05 8.86140401e+00] [-2.40109856e-03 1.18514372e-05 9.99997117e-01 -9.48789442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54439141799998 meters 0.06017392819499107 Centerline is valid? [True, True] Translation: X:152.24, Y:8.85, Z:-0.95 [[ 9.99386363e-01 -3.48847168e-02 3.15503029e-03 1.52235616e+02] [ 3.48846887e-02 9.99391342e-01 6.39819694e-05 8.84905482e+00] [-3.15534195e-03 4.61195417e-05 9.99995021e-01 -9.49044775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60439141799998 meters 0.061154908758011356 Centerline is valid? [True, True] Translation: X:152.30, Y:8.84, Z:-0.95 [[ 9.99215224e-01 -3.95696914e-02 1.78183304e-03 1.52297149e+02] [ 3.95696897e-02 9.99216812e-01 3.61947470e-05 8.84264978e+00] [-1.78186975e-03 3.43402384e-05 9.99998412e-01 -9.50002142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66439141799998 meters 0.06051189877936416 Centerline is valid? [True, True] Translation: X:152.36, Y:8.83, Z:-0.95 [[ 9.98955629e-01 -4.56908030e-02 5.00278772e-05 1.52357310e+02] [ 4.56908030e-02 9.98955630e-01 1.11652492e-06 8.83241681e+00] [-5.00266445e-05 1.17045503e-06 9.99999999e-01 -9.51735422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72439141799998 meters 0.06040465989012573 Centerline is valid? [True, True] Translation: X:152.42, Y:8.83, Z:-0.95 [[ 9.98778305e-01 -4.94155594e-02 -1.68796779e-05 1.52417737e+02] [ 4.94155594e-02 9.98778305e-01 -2.82863484e-07 8.83437713e+00] [ 1.68730339e-05 -5.51600813e-07 1.00000000e+00 -9.50754605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78439141799998 meters 0.06136021397449646 Centerline is valid? [True, True] Translation: X:152.48, Y:8.83, Z:-0.95 [[ 9.98544221e-01 -5.39385732e-02 -2.60918852e-04 1.52477097e+02] [ 5.39385737e-02 9.98544256e-01 -5.32061397e-06 8.82887987e+00] [ 2.60826007e-04 -8.76072238e-06 9.99999966e-01 -9.50899921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844391418 meters 0.060266693864615126 Centerline is valid? [True, True] Translation: X:152.54, Y:8.84, Z:-0.95 [[ 9.98359475e-01 -5.72558717e-02 3.52320166e-04 1.52537856e+02] [ 5.72558727e-02 9.98359537e-01 7.14092236e-06 8.83822784e+00] [-3.52151058e-04 1.30431911e-05 9.99999938e-01 -9.49872761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904391418 meters 0.06061901975575937 Centerline is valid? [True, True] Translation: X:152.60, Y:8.84, Z:-0.95 [[ 9.97984164e-01 -6.34561532e-02 9.61670119e-04 1.52597429e+02] [ 6.34561639e-02 9.97984627e-01 1.94761149e-05 8.83561039e+00] [-9.60967874e-04 4.15870425e-05 9.99999537e-01 -9.51720737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964391418 meters 0.06030182260312047 Centerline is valid? [True, True] Translation: X:152.66, Y:8.84, Z:-0.95 [[ 9.97961783e-01 -6.38022465e-02 1.24590729e-03 1.52658276e+02] [ 6.38022645e-02 9.97962560e-01 2.52788743e-05 8.84271036e+00] [-1.24498168e-03 5.42643563e-05 9.99999224e-01 -9.52480376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters 0.06022956476607837 Centerline is valid? [True, True] Translation: X:152.72, Y:8.85, Z:-0.95 [[ 9.98195679e-01 -6.00103675e-02 2.03543188e-03 1.52718006e+02] [ 6.00104081e-02 9.98197751e-01 4.12000084e-05 8.84601760e+00] [-2.03423596e-03 8.10214277e-05 9.99997928e-01 -9.52267059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters 0.06045516229099674 Centerline is valid? [True, True] Translation: X:152.78, Y:8.86, Z:-0.95 [[ 9.98441230e-01 -5.57145920e-02 3.31577867e-03 1.52778374e+02] [ 5.57146762e-02 9.98446729e-01 6.70503003e-05 8.85879448e+00] [-3.31436405e-03 1.17791751e-04 9.99994501e-01 -9.51844313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters 0.060365543861833106 Centerline is valid? [True, True] Translation: X:152.84, Y:8.86, Z:-0.95 [[ 9.98781660e-01 -4.91838297e-02 4.01818275e-03 1.52837761e+02] [ 4.91839005e-02 9.98789736e-01 8.12627110e-05 8.86394077e+00] [-4.01731650e-03 1.16466195e-04 9.99991924e-01 -9.53196333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters 0.060267157595148564 Centerline is valid? [True, True] Translation: X:152.90, Y:8.87, Z:-0.95 [[ 9.99031386e-01 -4.38638970e-02 3.49984870e-03 1.52898234e+02] [ 4.38639180e-02 9.99037513e-01 7.07864664e-05 8.87493147e+00] [-3.49958511e-03 8.27991749e-05 9.99993873e-01 -9.54828559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26439141799997 meters 0.060135010843739053 Centerline is valid? [True, True] Translation: X:152.96, Y:8.88, Z:-0.96 [[ 9.99199801e-01 -3.98928957e-02 2.88356453e-03 1.52959041e+02] [ 3.98928934e-02 9.99203960e-01 5.83325362e-05 8.88155887e+00] [-2.88359615e-03 5.67478737e-05 9.99995841e-01 -9.56274687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32439141799998 meters 0.0608153102806103 Centerline is valid? [True, True] Translation: X:153.02, Y:8.89, Z:-0.96 [[ 9.99434838e-01 -3.35783013e-02 1.58217637e-03 1.53019543e+02] [ 3.35782928e-02 9.99436090e-01 3.19773274e-05 8.89015798e+00] [-1.58235791e-03 2.11675265e-05 9.99998748e-01 -9.57621180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38439141799998 meters 0.05998626053553008 Centerline is valid? [True, True] Translation: X:153.08, Y:8.90, Z:-0.96 [[ 9.99589196e-01 -2.82983573e-02 4.54343058e-03 1.53080410e+02] [ 2.82982324e-02 9.99599521e-01 9.17805541e-05 8.90363035e+00] [-4.54420827e-03 3.68282042e-05 9.99989674e-01 -9.57139719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44439141799998 meters 0.06000699169420246 Centerline is valid? [True, True] Translation: X:153.14, Y:8.91, Z:-0.96 [[ 9.99657705e-01 -2.55571461e-02 5.59501596e-03 1.53142016e+02] [ 2.55569144e-02 9.99673362e-01 1.12920240e-04 8.90619622e+00] [-5.59607434e-03 3.01097562e-05 9.99984341e-01 -9.57548976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50439141799998 meters 0.05958820111469325 Centerline is valid? [True, True] Translation: X:153.20, Y:8.91, Z:-0.96 [[ 9.99685584e-01 -2.43630358e-02 5.93089540e-03 1.53204371e+02] [ 2.43627556e-02 9.99703177e-01 1.19500934e-04 8.91073358e+00] [-5.93204638e-03 2.50295947e-05 9.99982405e-01 -9.59089095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56439141799999 meters 0.05954550920821325 Centerline is valid? [True, True] Translation: X:153.27, Y:8.91, Z:-0.96 [[ 9.99620909e-01 -2.69023515e-02 5.85673495e-03 1.53266740e+02] [ 2.69021228e-02 9.99638065e-01 1.17840376e-04 8.91199940e+00] [-5.85778537e-03 3.97628985e-05 9.99982842e-01 -9.60408309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624391418 meters 0.0590553973843615 Centerline is valid? [True, True] Translation: X:153.33, Y:8.91, Z:-0.96 [[ 9.99546090e-01 -2.93104479e-02 6.96497259e-03 1.53328355e+02] [ 2.93101854e-02 9.99570354e-01 1.39776837e-04 8.91355694e+00] [-6.96607705e-03 6.44312475e-05 9.99975735e-01 -9.59769124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684391418 meters 0.060107210552222644 Centerline is valid? [True, True] Translation: X:153.39, Y:8.91, Z:-0.96 [[ 9.99468936e-01 -3.17039007e-02 7.53053819e-03 1.53390800e+02] [ 3.17036676e-02 9.99497301e-01 1.50350601e-04 8.91439529e+00] [-7.53151930e-03 8.84749242e-05 9.99971634e-01 -9.60918843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters 0.05932140072863393 Centerline is valid? [True, True] Translation: X:153.45, Y:8.91, Z:-0.96 [[ 9.99295215e-01 -3.70117539e-02 6.26123749e-03 1.53451435e+02] [ 3.70116987e-02 9.99314825e-01 1.24714849e-04 8.91156553e+00] [-6.26156336e-03 1.07112084e-04 9.99980390e-01 -9.62963089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters 0.059337483341771226 Centerline is valid? [True, True] Translation: X:153.51, Y:8.91, Z:-0.96 [[ 9.99159957e-01 -4.06082164e-02 5.50934719e-03 1.53511083e+02] [ 4.06082288e-02 9.99175140e-01 1.09654956e-04 8.91315642e+00] [-5.50925565e-03 1.14161990e-04 9.99984817e-01 -9.63606262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters 0.05934129114589199 Centerline is valid? [True, True] Translation: X:153.57, Y:8.91, Z:-0.96 [[ 9.99011545e-01 -4.40519985e-02 5.94593618e-03 1.53571221e+02] [ 4.40520739e-02 9.99029229e-01 1.18346592e-04 8.91109308e+00] [-5.94537744e-03 1.43701209e-04 9.99982316e-01 -9.63952426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters 0.06020596563069564 Centerline is valid? [True, True] Translation: X:153.63, Y:8.91, Z:-0.96 [[ 9.98933934e-01 -4.57675516e-02 6.02715283e-03 1.53633706e+02] [ 4.57676614e-02 9.98952104e-01 1.19785426e-04 8.90695085e+00] [-6.02631929e-03 1.56190963e-04 9.99981829e-01 -9.64522763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters 0.05986122334708186 Centerline is valid? [True, True] Translation: X:153.70, Y:8.91, Z:-0.96 [[ 9.98848036e-01 -4.74674445e-02 7.03149719e-03 1.53695552e+02] [ 4.74676381e-02 9.98872767e-01 1.39433565e-04 8.91276872e+00] [-7.03018961e-03 1.94495621e-04 9.99975269e-01 -9.64963287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04439141799998 meters 0.0590285635636438 Centerline is valid? [True, True] Translation: X:153.76, Y:8.92, Z:-0.96 [[ 9.98942187e-01 -4.52483072e-02 8.19130828e-03 1.53755980e+02] [ 4.52484986e-02 9.98975749e-01 1.62056600e-04 8.91907628e+00] [-8.19025111e-03 2.08759226e-04 9.99966438e-01 -9.64946846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10439141799998 meters 0.05905819499804324 Centerline is valid? [True, True] Translation: X:153.82, Y:8.92, Z:-0.97 [[ 9.99250513e-01 -3.79333389e-02 7.71196996e-03 1.53815323e+02] [ 3.79332929e-02 9.99280262e-01 1.52292106e-04 8.92236138e+00] [-7.71219631e-03 1.40362451e-04 9.99970251e-01 -9.65534341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16439141799998 meters 0.059358237790037065 Centerline is valid? [True, True] Translation: X:153.88, Y:8.93, Z:-0.97 [[ 9.99445874e-01 -3.27728317e-02 5.82117767e-03 1.53875897e+02] [ 3.27727179e-02 9.99462824e-01 1.14957111e-04 8.92665392e+00] [-5.82181814e-03 7.58824036e-05 9.99983050e-01 -9.67404741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22439141799998 meters 0.059393789717394146 Centerline is valid? [True, True] Translation: X:153.94, Y:8.93, Z:-0.97 [[ 9.99603358e-01 -2.78977203e-02 3.85289789e-03 1.53937734e+02] [ 2.78976341e-02 9.99610782e-01 7.61212324e-05 8.93424220e+00] [-3.85352188e-03 3.13956960e-05 9.99992575e-01 -9.69183555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28439141799998 meters 0.05920083145293457 Centerline is valid? [True, True] Translation: X:154.00, Y:8.94, Z:-0.97 [[ 9.99632215e-01 -2.68908907e-02 3.50910844e-03 1.53999831e+02] [ 2.68908133e-02 9.99638374e-01 6.92641284e-05 8.93708527e+00] [-3.50970203e-03 2.51241257e-05 9.99993841e-01 -9.69166276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344391418 meters 0.05951002459869226 Centerline is valid? [True, True] Translation: X:154.06, Y:8.94, Z:-0.97 [[ 9.99614458e-01 -2.73974909e-02 4.50693367e-03 1.54062145e+02] [ 2.73973690e-02 9.99624618e-01 8.87881277e-05 8.93919547e+00] [-4.50767441e-03 3.47242286e-05 9.99989840e-01 -9.68875854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404391418 meters 0.0594690082908665 Centerline is valid? [True, True] Translation: X:154.12, Y:8.94, Z:-0.97 [[ 9.99498036e-01 -3.14049194e-02 4.17216879e-03 1.54123288e+02] [ 3.14048500e-02 9.99506743e-01 8.21608570e-05 8.93934707e+00] [-4.17269109e-03 4.89067200e-05 9.99991293e-01 -9.68741673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464391418 meters 0.05854713580696376 Centerline is valid? [True, True] Translation: X:154.18, Y:8.94, Z:-0.97 [[ 9.99242607e-01 -3.86341942e-02 4.64880823e-03 1.54184060e+02] [ 3.86341896e-02 9.99253417e-01 9.08281397e-05 8.94016319e+00] [-4.64884658e-03 8.88435915e-05 9.99989190e-01 -9.67915176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters 0.05992558901088289 Centerline is valid? [True, True] Translation: X:154.25, Y:8.94, Z:-0.97 [[ 9.99148805e-01 -4.08892889e-02 5.45263864e-03 1.54245690e+02] [ 4.08893161e-02 9.99163677e-01 1.06540481e-04 8.93610374e+00] [-5.45243484e-03 1.16504871e-04 9.99985129e-01 -9.67952023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters 0.05957430684380081 Centerline is valid? [True, True] Translation: X:154.31, Y:8.94, Z:-0.97 [[ 9.98882243e-01 -4.67000524e-02 7.30544517e-03 1.54306166e+02] [ 4.67002583e-02 9.98908938e-01 1.42489132e-04 8.93787160e+00] [-7.30412873e-03 1.98836313e-04 9.99973305e-01 -9.66214975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters 0.05975640489932714 Centerline is valid? [True, True] Translation: X:154.37, Y:8.94, Z:-0.97 [[ 9.98755915e-01 -4.92405857e-02 7.87319954e-03 1.54365892e+02] [ 4.92409038e-02 9.98786919e-01 1.53554215e-04 8.94021315e+00] [-7.87120981e-03 2.34320280e-04 9.99968994e-01 -9.65398880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters 0.06057336906774069 Centerline is valid? [True, True] Translation: X:154.43, Y:8.94, Z:-0.97 [[ 9.98661117e-01 -5.10416257e-02 8.40991648e-03 1.54427385e+02] [ 5.10420529e-02 9.98696491e-01 1.63965487e-04 8.93735522e+00] [-8.40732314e-03 2.65513446e-04 9.99964623e-01 -9.66290476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76439141799997 meters 0.060506697830386806 Centerline is valid? [True, True] Translation: X:154.49, Y:8.94, Z:-0.97 [[ 9.98734422e-01 -4.96839669e-02 7.81395992e-03 1.54487560e+02] [ 4.96842954e-02 9.98764961e-01 1.52200196e-04 8.93915311e+00] [-7.81187129e-03 2.36223519e-04 9.99969459e-01 -9.67246277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82439141799998 meters 0.05955553649499052 Centerline is valid? [True, True] Translation: X:154.55, Y:8.95, Z:-0.97 [[ 9.99029241e-01 -4.36600979e-02 5.86272587e-03 1.54548160e+02] [ 4.36601793e-02 9.99046433e-01 1.14156536e-04 8.95021848e+00] [-5.86211945e-03 1.41921945e-04 9.99982808e-01 -9.68887637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88439141799998 meters 0.05921115268001443 Centerline is valid? [True, True] Translation: X:154.61, Y:8.96, Z:-0.97 [[ 9.99502336e-01 -3.14182094e-02 2.82409545e-03 1.54607432e+02] [ 3.14181794e-02 9.99506326e-01 5.49986094e-05 8.96282181e+00] [-2.82442922e-03 3.37566988e-05 9.99996011e-01 -9.70689928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94439141799998 meters 0.05909296722633275 Centerline is valid? [True, True] Translation: X:154.67, Y:8.97, Z:-0.97 [[ 9.99820619e-01 -1.85597824e-02 3.77685897e-03 1.54667838e+02] [ 1.85596366e-02 9.99827752e-01 7.36448146e-05 8.97363490e+00] [-3.77757525e-03 -3.53447382e-06 9.99992865e-01 -9.70348913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00439141799998 meters 0.059530896738224696 Centerline is valid? [True, True] Translation: X:154.73, Y:8.98, Z:-0.97 [[ 9.99910963e-01 -1.26957484e-02 4.10898949e-03 1.54730163e+02] [ 1.26955263e-02 9.99919405e-01 8.01296026e-05 8.97903899e+00] [-4.10967563e-03 -2.79566841e-05 9.99991555e-01 -9.70776902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06439141799999 meters 0.059680018675135976 Centerline is valid? [True, True] Translation: X:154.79, Y:8.98, Z:-0.97 [[ 9.99907485e-01 -1.30144549e-02 3.95535470e-03 1.54791069e+02] [ 1.30142521e-02 9.99915308e-01 7.70004416e-05 8.98119182e+00] [-3.95602183e-03 -2.55173346e-05 9.99992175e-01 -9.70735874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124391418 meters 0.05916880923575472 Centerline is valid? [True, True] Translation: X:154.85, Y:8.98, Z:-0.97 [[ 9.99805664e-01 -1.94211808e-02 3.38419908e-03 1.54853691e+02] [ 1.94210691e-02 9.99811391e-01 6.58617278e-05 8.97913464e+00] [-3.38483990e-03 -1.24164133e-07 9.99994271e-01 -9.71083231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184391418 meters 0.059328919939091625 Centerline is valid? [True, True] Translation: X:154.91, Y:8.97, Z:-0.97 [[ 9.99420887e-01 -3.37598583e-02 4.26175016e-03 1.54914286e+02] [ 3.37598127e-02 9.99429972e-01 8.26742207e-05 8.96993024e+00] [-4.26211191e-03 6.12495440e-05 9.99990915e-01 -9.70157718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters 0.060199362087330274 Centerline is valid? [True, True] Translation: X:154.97, Y:8.96, Z:-0.97 [[ 9.98901381e-01 -4.64609126e-02 6.11673791e-03 1.54974040e+02] [ 4.64610569e-02 9.98920095e-01 1.18570526e-04 8.95964424e+00] [-6.11564131e-03 1.65749846e-04 9.99981286e-01 -9.68011175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters 0.06034750960258623 Centerline is valid? [True, True] Translation: X:155.03, Y:8.96, Z:-0.97 [[ 9.98603072e-01 -5.24669102e-02 6.25525661e-03 1.55034127e+02] [ 5.24671789e-02 9.98622642e-01 1.21242313e-04 8.95618190e+00] [-6.25300209e-03 2.07122722e-04 9.99980428e-01 -9.68431021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters 0.05971097035642559 Centerline is valid? [True, True] Translation: X:155.10, Y:8.96, Z:-0.97 [[ 9.98624408e-01 -5.21639394e-02 5.31172708e-03 1.55095747e+02] [ 5.21641287e-02 9.98638520e-01 1.02989620e-04 8.96184917e+00] [-5.30986761e-03 1.74233667e-04 9.99985887e-01 -9.70434804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters 0.05994579013978001 Centerline is valid? [True, True] Translation: X:155.15, Y:8.97, Z:-0.97 [[ 9.98892150e-01 -4.69715675e-02 2.85371175e-03 1.55154928e+02] [ 4.69716014e-02 9.98896224e-01 5.51838816e-05 8.96693179e+00] [-2.85315397e-03 7.89206648e-05 9.99995927e-01 -9.72274626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters 0.059419631831790616 Centerline is valid? [True, True] Translation: X:155.22, Y:8.97, Z:-0.97 [[ 9.99126758e-01 -4.16778146e-02 2.94624702e-03 1.55215221e+02] [ 4.16778276e-02 9.99131100e-01 5.70193463e-05 8.97248791e+00] [-2.94606347e-03 6.58236207e-05 9.99995658e-01 -9.72203903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54439141799998 meters 0.05932466488952856 Centerline is valid? [True, True] Translation: X:155.27, Y:8.98, Z:-0.97 [[ 9.99508454e-01 -3.12401348e-02 2.62752169e-03 1.55274279e+02] [ 3.12401091e-02 9.99511907e-01 5.08278926e-05 8.97801912e+00] [-2.62782709e-03 3.12811560e-05 9.99996547e-01 -9.72342345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60439141799998 meters 0.05914971898472262 Centerline is valid? [True, True] Translation: X:155.33, Y:8.99, Z:-0.97 [[ 9.99796186e-01 -1.99449057e-02 3.12830784e-03 1.55334764e+02] [ 1.99448137e-02 9.99801081e-01 6.06000876e-05 8.98684550e+00] [-3.12889422e-03 1.80578076e-06 9.99995105e-01 -9.71987213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66439141799998 meters 0.059622397347762306 Centerline is valid? [True, True] Translation: X:155.40, Y:8.99, Z:-0.97 [[ 9.99968187e-01 -7.79217907e-03 1.70492722e-03 1.55395342e+02] [ 7.79213401e-03 9.99969640e-01 3.30687447e-05 8.99294020e+00] [-1.70513314e-03 -1.97826713e-05 9.99998546e-01 -9.72494054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72439141799998 meters 0.05979903078005523 Centerline is valid? [True, True] Translation: X:155.46, Y:8.99, Z:-0.97 [[ 9.99999394e-01 -9.18108272e-04 6.07464384e-04 1.55456042e+02] [ 9.18101296e-04 9.99999578e-01 1.17613672e-05 8.99305809e+00] [-6.07474926e-04 -1.12036462e-05 9.99999815e-01 -9.71778775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78439141799998 meters 0.06029896104958333 Centerline is valid? [True, True] Translation: X:155.52, Y:8.99, Z:-0.97 [[ 9.99979842e-01 6.33075990e-03 -4.87809401e-04 1.55515960e+02] [-6.33076525e-03 9.99979960e-01 -9.43123095e-06 8.99389811e+00] [ 4.87739919e-04 1.25192476e-05 9.99999881e-01 -9.71054186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844391418 meters 0.0624404072543401 Centerline is valid? [True, True] Translation: X:155.57, Y:9.00, Z:-0.97 [[ 9.99957053e-01 9.26379987e-03 -2.72970214e-04 1.55574797e+02] [-9.26380167e-03 9.99957090e-01 -5.31238154e-06 9.00311267e+00] [ 2.72909288e-04 7.84089532e-06 9.99999963e-01 -9.72948966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904391418 meters 0.060511640270042355 Centerline is valid? [True, True] Translation: X:155.63, Y:8.99, Z:-0.97 [[ 9.99926909e-01 1.16826136e-02 3.11327575e-03 1.55634612e+02] [-1.16828576e-02 9.99931751e-01 6.02005098e-05 8.98983571e+00] [-3.11235997e-03 -9.65680669e-05 9.99995152e-01 -9.69821947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964391418 meters 0.06172592431585469 Centerline is valid? [True, True] Translation: X:155.70, Y:8.98, Z:-0.97 [[ 9.99893511e-01 1.41866935e-02 3.42109943e-03 1.55695989e+02] [-1.41870031e-02 9.99899357e-01 6.62256081e-05 8.97854338e+00] [-3.41981560e-03 -1.14753704e-04 9.99994146e-01 -9.69363573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters 0.061110963598377 Centerline is valid? [True, True] Translation: X:155.76, Y:8.98, Z:-0.97 [[ 9.99882278e-01 1.51372079e-02 2.50896920e-03 1.55756700e+02] [-1.51373774e-02 9.99885422e-01 4.85611543e-05 8.97619930e+00] [-2.50794665e-03 -8.65346513e-05 9.99996851e-01 -9.70714421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters 0.06211595737605361 Centerline is valid? [True, True] Translation: X:155.82, Y:8.96, Z:-0.97 [[ 9.99878025e-01 1.55374950e-02 1.58767081e-03 1.55816700e+02] [-1.55375633e-02 9.99879284e-01 3.06659823e-05 8.96329297e+00] [-1.58700268e-03 -5.53307775e-05 9.99998739e-01 -9.71175466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters 0.061234312581540516 Centerline is valid? [True, True] Translation: X:155.88, Y:8.95, Z:-0.97 [[ 9.99886692e-01 1.48086453e-02 2.70301899e-03 1.55876654e+02] [-1.48088407e-02 9.99890342e-01 5.22589241e-05 8.94942373e+00] [-2.70194870e-03 -9.22815803e-05 9.99996345e-01 -9.70566614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters 0.06100271991199235 Centerline is valid? [True, True] Translation: X:155.94, Y:8.94, Z:-0.97 [[ 9.99890174e-01 1.44666127e-02 3.21822707e-03 1.55937350e+02] [-1.44668881e-02 9.99895347e-01 6.22966143e-05 8.94267875e+00] [-3.21698905e-03 -1.08847503e-04 9.99994820e-01 -9.70694158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26439141799997 meters 0.061435599743375695 Centerline is valid? [True, True] Translation: X:156.00, Y:8.93, Z:-0.97 [[ 9.99908387e-01 1.34760189e-02 1.27093044e-03 1.55998021e+02] [-1.34760611e-02 9.99909193e-01 2.46224457e-05 8.93172213e+00] [-1.27048322e-03 -4.17473261e-05 9.99999192e-01 -9.72243804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32439141799998 meters 0.06136405587574438 Centerline is valid? [True, True] Translation: X:156.06, Y:8.92, Z:-0.97 [[ 9.99925981e-01 1.21606223e-02 -3.90171594e-04 1.56059165e+02] [-1.21606262e-02 9.99926057e-01 -7.49129039e-06 8.92499969e+00] [ 3.90051645e-04 1.22354668e-05 9.99999924e-01 -9.73414331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38439141799998 meters 0.06119706801602594 Centerline is valid? [True, True] Translation: X:156.12, Y:8.91, Z:-0.97 [[ 9.99950625e-01 9.93210183e-03 -3.16938265e-04 1.56119748e+02] [-9.93210427e-03 9.99950675e-01 -6.12533868e-06 8.91098421e+00] [ 3.16861795e-04 9.27290014e-06 9.99999950e-01 -9.72595197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44439141799998 meters 0.061285205204360996 Centerline is valid? [True, True] Translation: X:156.18, Y:8.91, Z:-0.97 [[ 9.99961721e-01 8.74961269e-03 4.24273386e-05 1.56179079e+02] [-8.74961273e-03 9.99961721e-01 7.71969213e-07 8.91258971e+00] [-4.24189601e-05 -1.14316244e-06 9.99999999e-01 -9.73605893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50439141799998 meters 0.06153090413386269 Centerline is valid? [True, True] Translation: X:156.24, Y:8.90, Z:-0.97 [[ 9.99998580e-01 1.66107700e-03 2.82587687e-04 1.56240320e+02] [-1.66107862e-03 9.99998620e-01 5.50125001e-06 8.89796433e+00] [-2.82578159e-04 -5.97064257e-06 9.99999960e-01 -9.72160589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56439141799999 meters 0.06103352992092899 Centerline is valid? [True, True] Translation: X:156.30, Y:8.88, Z:-0.97 [[ 9.99981598e-01 -5.85439689e-03 1.59063987e-03 1.56301566e+02] [ 5.85435534e-03 9.99982863e-01 3.07806533e-05 8.87819336e+00] [-1.59079282e-03 -2.14679159e-05 9.99998734e-01 -9.69553655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624391418 meters 0.06028889718574935 Centerline is valid? [True, True] Translation: X:156.36, Y:8.87, Z:-0.97 [[ 9.99923692e-01 -1.23141986e-02 9.84777076e-04 1.56362298e+02] [ 1.23141858e-02 9.99924177e-01 1.90661753e-05 8.86754807e+00] [-9.84937192e-04 -6.93799249e-06 9.99999515e-01 -9.71097039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684391418 meters 0.06130524079162344 Centerline is valid? [True, True] Translation: X:156.42, Y:8.86, Z:-0.97 [[ 9.99863687e-01 -1.64988064e-02 -6.30291036e-04 1.56422525e+02] [ 1.64988020e-02 9.99863885e-01 -1.21591510e-05 8.85953863e+00] [ 6.30405856e-04 1.75844660e-06 9.99999801e-01 -9.71339709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters 0.061029018948954274 Centerline is valid? [True, True] Translation: X:156.48, Y:8.85, Z:-0.97 [[ 9.99818129e-01 -1.90593909e-02 -6.69996361e-04 1.56481451e+02] [ 1.90593865e-02 9.99818353e-01 -1.30353458e-05 8.85075678e+00] [ 6.70123105e-04 2.63255521e-07 9.99999775e-01 -9.71020225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters 0.060726925022864704 Centerline is valid? [True, True] Translation: X:156.54, Y:8.85, Z:-0.97 [[ 9.99839366e-01 -1.79231870e-02 3.27491061e-05 1.56540861e+02] [ 1.79231870e-02 9.99839367e-01 3.12594237e-07 8.84784771e+00] [-3.27494483e-05 2.74424332e-07 9.99999999e-01 -9.70708439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters 0.0618950237883213 Centerline is valid? [True, True] Translation: X:156.60, Y:8.85, Z:-0.97 [[ 9.99898344e-01 -1.42218490e-02 1.02019971e-03 1.56600406e+02] [ 1.42218363e-02 9.99898864e-01 1.97680417e-05 8.84545206e+00] [-1.02037767e-03 -5.25691895e-06 9.99999479e-01 -9.70674183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters 0.060244341236222486 Centerline is valid? [True, True] Translation: X:156.66, Y:8.84, Z:-0.97 [[ 9.99893783e-01 -1.45707411e-02 -3.39923030e-04 1.56660120e+02] [ 1.45707397e-02 9.99893841e-01 -6.63429412e-06 8.84133300e+00] [ 3.39983611e-04 1.68065946e-06 9.99999942e-01 -9.72503869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters 0.061124880246280974 Centerline is valid? [True, True] Translation: X:156.72, Y:8.84, Z:-0.97 [[ 9.99830660e-01 -1.83505527e-02 -1.38187011e-03 1.56718563e+02] [ 1.83505329e-02 9.99831614e-01 -2.69579044e-05 8.83704563e+00] [ 1.38213211e-03 1.59528640e-06 9.99999045e-01 -9.72568823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04439141799998 meters 0.06081717997018053 Centerline is valid? [True, True] Translation: X:156.78, Y:8.83, Z:-0.97 [[ 9.99637475e-01 -2.68702736e-02 -1.70482881e-03 1.56778189e+02] [ 2.68702560e-02 9.99638929e-01 -3.32069530e-05 8.82973767e+00] [ 1.70510553e-03 -1.26142719e-05 9.99998546e-01 -9.70951202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10439141799998 meters 0.06052870701310904 Centerline is valid? [True, True] Translation: X:156.84, Y:8.82, Z:-0.97 [[ 9.99416472e-01 -3.41562794e-02 -2.54377217e-04 1.56837346e+02] [ 3.41562792e-02 9.99416504e-01 -5.04529590e-06 8.82260686e+00] [ 2.54401118e-04 -3.64622742e-06 9.99999968e-01 -9.70330007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16439141799998 meters 0.06103756987992431 Centerline is valid? [True, True] Translation: X:156.90, Y:8.82, Z:-0.97 [[ 9.99335143e-01 -3.64555109e-02 5.16609134e-04 1.56895478e+02] [ 3.64555107e-02 9.99335277e-01 9.81448654e-06 8.82417657e+00] [-5.16623524e-04 9.02528851e-06 9.99999867e-01 -9.68892984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22439141799998 meters 0.06106396131866357 Centerline is valid? [True, True] Translation: X:156.95, Y:8.82, Z:-0.97 [[ 9.99306620e-01 -3.72274016e-02 -6.32244709e-04 1.56954712e+02] [ 3.72274009e-02 9.99306820e-01 -1.27487160e-05 8.82066468e+00] [ 6.32281051e-04 -1.07969510e-05 9.99999800e-01 -9.71997418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28439141799998 meters 0.06116583138956087 Centerline is valid? [True, True] Translation: X:157.01, Y:8.82, Z:-0.97 [[ 9.99281272e-01 -3.76523337e-02 -4.38651801e-03 1.57013267e+02] [ 3.76523184e-02 9.99290896e-01 -8.60945807e-05 8.82470228e+00] [ 4.38664918e-03 -7.91298708e-05 9.99990375e-01 -9.73138830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344391418 meters 0.061487690047599575 Centerline is valid? [True, True] Translation: X:157.07, Y:8.83, Z:-0.97 [[ 9.99229403e-01 -3.88233118e-02 -5.77499549e-03 1.57072297e+02] [ 3.88232989e-02 9.99246085e-01 -1.14367859e-04 8.82583259e+00] [ 5.77508177e-03 -1.09924649e-04 9.99983318e-01 -9.73139276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404391418 meters 0.06119117682855254 Centerline is valid? [True, True] Translation: X:157.13, Y:8.83, Z:-0.97 [[ 9.99146233e-01 -4.10852230e-02 -4.33689107e-03 1.57131134e+02] [ 4.10852345e-02 9.99155642e-01 -8.64784530e-05 8.82918744e+00] [ 4.33678217e-03 -9.17775660e-05 9.99990592e-01 -9.69753076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464391418 meters 0.061379921893076145 Centerline is valid? [True, True] Translation: X:157.19, Y:8.83, Z:-0.97 [[ 9.99046131e-01 -4.36011866e-02 -2.40103780e-03 1.57188385e+02] [ 4.36011972e-02 9.99049014e-01 -4.79329677e-05 8.82842882e+00] [ 2.40084438e-03 -5.68008767e-05 9.99997116e-01 -9.70209695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters 0.062073973358676315 Centerline is valid? [True, True] Translation: X:157.25, Y:8.83, Z:-0.97 [[ 9.98961829e-01 -4.54926419e-02 -2.38392008e-03 1.57248030e+02] [ 4.54926582e-02 9.98964672e-01 -4.74283101e-05 8.82991055e+00] [ 2.38360958e-03 -6.10717901e-05 9.99997157e-01 -9.70699238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters 0.062058944865357596 Centerline is valid? [True, True] Translation: X:157.31, Y:8.84, Z:-0.97 [[ 9.98925206e-01 -4.62551314e-02 -2.98243293e-03 1.57305284e+02] [ 4.62551589e-02 9.98929656e-01 -5.98051937e-05 8.83531546e+00] [ 2.98200699e-03 -7.82119935e-05 9.99995551e-01 -9.70598074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters 0.0617488452759087 Centerline is valid? [True, True] Translation: X:157.37, Y:8.84, Z:-0.97 [[ 9.99093983e-01 -4.25058726e-02 -2.11276010e-03 1.57365428e+02] [ 4.25058786e-02 9.99096216e-01 -4.21055357e-05 8.84334415e+00] [ 2.11264035e-03 -4.77373369e-05 9.99997767e-01 -9.69907761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters 0.06136568058532756 Centerline is valid? [True, True] Translation: X:157.43, Y:8.86, Z:-0.97 [[ 9.99194937e-01 -4.00981979e-02 -1.26953678e-03 1.57425480e+02] [ 4.00981979e-02 9.99195744e-01 -2.54406814e-05 8.85623244e+00] [ 1.26953587e-03 -2.54859368e-05 9.99999194e-01 -9.66624086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76439141799997 meters 0.06178133831132838 Centerline is valid? [True, True] Translation: X:157.48, Y:8.86, Z:-0.97 [[ 9.99147056e-01 -4.12766344e-02 -1.18282766e-03 1.57484295e+02] [ 4.12766348e-02 9.99147756e-01 -2.40299640e-05 8.86219945e+00] [ 1.18281147e-03 -2.48136775e-05 9.99999300e-01 -9.67763137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82439141799998 meters 0.06190925319774821 Centerline is valid? [True, True] Translation: X:157.54, Y:8.87, Z:-0.97 [[ 9.98889145e-01 -4.70446413e-02 -2.69756783e-03 1.57543439e+02] [ 4.70446669e-02 9.98892785e-01 -5.39860567e-05 8.86584350e+00] [ 2.69712080e-03 -7.29800940e-05 9.99996360e-01 -9.70662111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88439141799998 meters 0.06152158765307826 Centerline is valid? [True, True] Translation: X:157.60, Y:8.87, Z:-0.97 [[ 9.98658773e-01 -5.16652096e-02 -3.37077972e-03 1.57603733e+02] [ 5.16652762e-02 9.98664456e-01 -6.73668674e-05 8.87023629e+00] [ 3.36975841e-03 -1.06875752e-04 9.99994317e-01 -9.71580794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94439141799998 meters 0.06190990174210277 Centerline is valid? [True, True] Translation: X:157.66, Y:8.88, Z:-0.97 [[ 9.98425718e-01 -5.58811419e-02 -4.83561527e-03 1.57664499e+02] [ 5.58813281e-02 9.98437413e-01 -9.67079141e-05 8.87559031e+00] [ 4.83346335e-03 -1.73664935e-04 9.99988304e-01 -9.72679231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00439141799998 meters 0.06153714201810163 Centerline is valid? [True, True] Translation: X:157.72, Y:8.88, Z:-0.97 [[ 9.98377531e-01 -5.67324592e-02 -4.87177567e-03 1.57722734e+02] [ 5.67326519e-02 9.98389401e-01 -9.87495355e-05 8.88105496e+00] [ 4.86953150e-03 -1.77799436e-04 9.99988128e-01 -9.72167568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06439141799999 meters 0.06361618794710173 Centerline is valid? [True, True] Translation: X:157.78, Y:8.88, Z:-0.97 [[ 9.98557410e-01 -5.35985707e-02 -3.20810539e-03 1.57782587e+02] [ 5.35986393e-02 9.98562558e-01 -6.46450651e-05 8.88109076e+00] [ 3.20695881e-03 -1.07398275e-04 9.99994852e-01 -9.73991444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124391418 meters 0.06161240349842686 Centerline is valid? [True, True] Translation: X:157.84, Y:8.91, Z:-0.97 [[ 9.98857724e-01 -4.77827592e-02 2.33752928e-04 1.57842200e+02] [ 4.77827594e-02 9.98857752e-01 4.71342924e-06 8.90640043e+00] [-2.33711145e-04 6.46131475e-06 9.99999973e-01 -9.69969252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184391418 meters 0.06185621001965108 Centerline is valid? [True, True] Translation: X:157.90, Y:8.91, Z:-0.97 [[ 9.99107403e-01 -4.22354211e-02 7.52245632e-04 1.57902183e+02] [ 4.22354217e-02 9.99107686e-01 1.51436955e-05 8.90727659e+00] [-7.52213994e-04 1.66412332e-05 9.99999717e-01 -9.71697693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters 0.06152822556315721 Centerline is valid? [True, True] Translation: X:157.96, Y:8.92, Z:-0.97 [[ 9.99452593e-01 -3.30771051e-02 6.47707989e-04 1.57961442e+02] [ 3.30771036e-02 9.99452803e-01 1.30148060e-05 8.92293996e+00] [-6.47784057e-04 8.41662272e-06 9.99999790e-01 -9.71955749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters 0.061343460287281194 Centerline is valid? [True, True] Translation: X:158.02, Y:8.93, Z:-0.97 [[ 9.99565703e-01 -2.94669457e-02 3.24108882e-04 1.58020732e+02] [ 2.94669451e-02 9.99565755e-01 6.48269951e-06 8.92722894e+00] [-3.24159165e-04 3.07061455e-06 9.99999947e-01 -9.72966408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters 0.061317368383016754 Centerline is valid? [True, True] Translation: X:158.08, Y:8.94, Z:-0.97 [[ 9.99827774e-01 -1.85531343e-02 4.51740491e-04 1.58080621e+02] [ 1.85531321e-02 9.99827876e-01 9.05692890e-06 8.93902640e+00] [-4.51830770e-04 -6.74168072e-07 9.99999898e-01 -9.73107341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters 0.061688492671132265 Centerline is valid? [True, True] Translation: X:158.14, Y:8.95, Z:-0.97 [[ 9.99933988e-01 -1.14778296e-02 5.27862090e-04 1.58139411e+02] [ 1.14778256e-02 9.99934128e-01 1.05942902e-05 8.94754559e+00] [-5.27948918e-04 -4.53488185e-06 9.99999861e-01 -9.74245279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters 0.061309495277138776 Centerline is valid? [True, True] Translation: X:158.20, Y:8.96, Z:-0.98 [[ 9.99996334e-01 -2.63415222e-03 6.26655788e-04 1.58199798e+02] [ 2.63414482e-03 9.99996531e-01 1.26235977e-05 8.95717770e+00] [-6.26686866e-04 -1.09728493e-05 9.99999804e-01 -9.75870958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54439141799998 meters 0.061805812721822326 Centerline is valid? [True, True] Translation: X:158.26, Y:8.96, Z:-0.98 [[ 9.99993606e-01 3.56463898e-03 2.86548068e-04 1.58259846e+02] [-3.56464079e-03 9.99993647e-01 5.81848694e-06 8.95829461e+00] [-2.86525506e-04 -6.83989066e-06 9.99999959e-01 -9.76647841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60439141799998 meters 0.06204545555285364 Centerline is valid? [True, True] Translation: X:158.32, Y:8.96, Z:-0.98 [[ 9.99973483e-01 7.28162145e-03 -1.10272034e-04 1.58318701e+02] [-7.28162174e-03 9.99973489e-01 -2.27010346e-06 8.96067720e+00] [ 1.10252581e-04 3.07300251e-06 9.99999994e-01 -9.78127268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66439141799998 meters 0.06186949081876036 Centerline is valid? [True, True] Translation: X:158.38, Y:8.96, Z:-0.98 [[ 9.99964237e-01 8.45256587e-03 2.80868450e-04 1.58379311e+02] [-8.45256779e-03 9.99964276e-01 5.66172350e-06 8.95893262e+00] [-2.80810560e-04 -8.03558063e-06 9.99999961e-01 -9.78159437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72439141799998 meters 0.061709043000482765 Centerline is valid? [True, True] Translation: X:158.44, Y:8.95, Z:-0.98 [[ 9.99942324e-01 1.02804571e-02 3.10804790e-03 1.58439391e+02] [-1.02807015e-02 9.99947150e-01 6.26517781e-05 8.95046658e+00] [-3.10723955e-03 -9.46010772e-05 9.99995168e-01 -9.76658569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78439141799998 meters 0.06168734269224103 Centerline is valid? [True, True] Translation: X:158.50, Y:8.95, Z:-0.98 [[ 9.99919571e-01 1.15099230e-02 5.32665695e-03 1.58500582e+02] [-1.15106582e-02 9.99933744e-01 1.07384440e-04 8.94603927e+00] [-5.32506804e-03 -1.68689131e-04 9.99985807e-01 -9.76780467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844391418 meters 0.062174648289735734 Centerline is valid? [True, True] Translation: X:158.56, Y:8.94, Z:-0.98 [[ 9.99894583e-01 1.38474573e-02 4.36697578e-03 1.58560657e+02] [-1.38479736e-02 9.99904108e-01 8.80102341e-05 8.94468828e+00] [-4.36533830e-03 -1.48474721e-04 9.99990461e-01 -9.79452574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904391418 meters 0.061204313469348855 Centerline is valid? [True, True] Translation: X:158.62, Y:8.94, Z:-0.98 [[ 9.99884547e-01 1.48215469e-02 3.34894602e-03 1.58622850e+02] [-1.48218558e-02 9.99890148e-01 6.74448715e-05 8.93653539e+00] [-3.34757850e-03 -1.17074680e-04 9.99994390e-01 -9.81709066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964391418 meters 0.06250620233815864 Centerline is valid? [True, True] Translation: X:158.68, Y:8.93, Z:-0.98 [[ 9.99920343e-01 1.25260032e-02 1.55148057e-03 1.58682530e+02] [-1.25260666e-02 9.99921545e-01 3.11636211e-05 8.92828241e+00] [-1.55096850e-03 -5.05950877e-05 9.99998796e-01 -9.83896820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters 0.061700703609105546 Centerline is valid? [True, True] Translation: X:158.74, Y:8.92, Z:-0.98 [[ 9.99990117e-01 3.68419498e-03 2.48866029e-03 1.58742993e+02] [-3.68433085e-03 9.99993212e-01 5.00135815e-05 8.91524813e+00] [-2.48845914e-03 -5.91821350e-05 9.99996902e-01 -9.83968488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters 0.06038566431320003 Centerline is valid? [True, True] Translation: X:158.80, Y:8.89, Z:-0.98 [[ 9.99927872e-01 -1.12935431e-02 4.08744821e-03 1.58804432e+02] [ 1.12933020e-02 9.99936225e-01 8.20740997e-05 8.89362436e+00] [-4.08811444e-03 -3.59073929e-05 9.99991643e-01 -9.82258054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters 0.061377494072139265 Centerline is valid? [True, True] Translation: X:158.87, Y:8.88, Z:-0.98 [[ 9.99749774e-01 -2.21391060e-02 3.20134257e-03 1.58865853e+02] [ 2.21390128e-02 9.99754900e-01 6.45633192e-05 8.88326009e+00] [-3.20198730e-03 6.32740032e-06 9.99994874e-01 -9.83066973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters 0.06043750220365992 Centerline is valid? [True, True] Translation: X:158.93, Y:8.87, Z:-0.98 [[ 9.99260626e-01 -3.82945946e-02 3.42417423e-03 1.58926354e+02] [ 3.82945850e-02 9.99266491e-01 6.84077980e-05 8.86873218e+00] [-3.42428221e-03 6.27701119e-05 9.99994135e-01 -9.83901802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26439141799997 meters 0.06053439001342339 Centerline is valid? [True, True] Translation: X:158.99, Y:8.86, Z:-0.98 [[ 9.98862259e-01 -4.74993307e-02 4.24266712e-03 1.58985385e+02] [ 4.74993989e-02 9.98871263e-01 8.47559318e-05 8.86077761e+00] [-4.24190412e-03 1.16864637e-04 9.99990996e-01 -9.83399278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32439141799998 meters 0.06125076570821045 Centerline is valid? [True, True] Translation: X:159.05, Y:8.86, Z:-0.98 [[ 9.98255859e-01 -5.84890887e-02 8.01661325e-03 1.59046115e+02] [ 5.84896862e-02 9.98288000e-01 1.60091676e-04 8.85851564e+00] [-8.01225242e-03 3.09076739e-04 9.99967854e-01 -9.82140386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38439141799998 meters 0.0627767696880841 Centerline is valid? [True, True] Translation: X:159.11, Y:8.85, Z:-0.98 [[ 9.97972005e-01 -6.31537752e-02 7.96735546e-03 1.59105616e+02] [ 6.31545142e-02 9.98003749e-01 1.59063392e-04 8.85410023e+00] [-7.96149607e-03 3.44433651e-04 9.99968247e-01 -9.81454557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44439141799998 meters 0.060500482109019996 Centerline is valid? [True, True] Translation: X:159.17, Y:8.87, Z:-0.99 [[ 9.97747299e-01 -6.64430409e-02 9.25470017e-03 1.59165683e+02] [ 6.64441793e-02 9.97790127e-01 1.84742151e-04 8.87191260e+00] [-9.24652329e-03 4.30594976e-04 9.99957157e-01 -9.85066936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50439141799998 meters 0.061095555628294024 Centerline is valid? [True, True] Translation: X:159.23, Y:8.88, Z:-0.99 [[ 9.97845742e-01 -6.53429720e-02 5.84554936e-03 1.59225330e+02] [ 6.53434075e-02 9.97862829e-01 1.16657759e-04 8.88156365e+00] [-5.84067918e-03 2.65561665e-04 9.99982908e-01 -9.88016572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56439141799999 meters 0.060473107712645385 Centerline is valid? [True, True] Translation: X:159.29, Y:8.89, Z:-0.99 [[ 9.97949235e-01 -6.37655675e-02 5.59249864e-03 1.59285286e+02] [ 6.37659414e-02 9.97964875e-01 1.11607707e-04 8.89111915e+00] [-5.58823394e-03 2.45232115e-04 9.99984356e-01 -9.89971639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624391418 meters 0.060972744039253846 Centerline is valid? [True, True] Translation: X:159.34, Y:8.90, Z:-0.99 [[ 9.98083963e-01 -6.16514568e-02 5.24410506e-03 1.59344519e+02] [ 6.16517565e-02 9.98097716e-01 1.04648713e-04 8.90055805e+00] [-5.24058103e-03 2.18860086e-04 9.99986244e-01 -9.89301235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684391418 meters 0.06218793908078336 Centerline is valid? [True, True] Translation: X:159.40, Y:8.91, Z:-0.99 [[ 9.98165371e-01 -6.01824030e-02 6.63098034e-03 1.59403616e+02] [ 6.01828493e-02 9.98187361e-01 1.32390766e-04 8.90602912e+00] [-6.62692836e-03 2.66923412e-04 9.99978006e-01 -9.88750154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters 0.06142053973219357 Centerline is valid? [True, True] Translation: X:159.46, Y:8.92, Z:-0.99 [[ 9.98230719e-01 -5.88433851e-02 8.53742330e-03 1.59462649e+02] [ 5.88440754e-02 9.98267172e-01 1.70536517e-04 8.91742850e+00] [-8.53266435e-03 3.32141990e-04 9.99963541e-01 -9.88084203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters 0.06206480936148374 Centerline is valid? [True, True] Translation: X:159.52, Y:8.93, Z:-0.99 [[ 9.98318398e-01 -5.71794490e-02 9.53350687e-03 1.59523434e+02] [ 5.71802340e-02 9.98363854e-01 1.90434152e-04 8.93215675e+00] [-9.52879758e-03 3.55014236e-04 9.99954537e-01 -9.88801248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters 0.060914245224999275 Centerline is valid? [True, True] Translation: X:159.58, Y:8.94, Z:-0.99 [[ 9.98420289e-01 -5.54534579e-02 9.04655238e-03 1.59584795e+02] [ 5.54540956e-02 9.98461221e-01 1.80527149e-04 8.94421969e+00] [-9.04264260e-03 3.21426413e-04 9.99959063e-01 -9.90540260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters 0.06215415221708758 Centerline is valid? [True, True] Translation: X:159.64, Y:8.95, Z:-0.99 [[ 9.98630470e-01 -5.18582441e-02 6.92143407e-03 1.59644314e+02] [ 5.18585320e-02 9.98654432e-01 1.37983618e-04 8.95492379e+00] [-6.91927640e-03 2.21140765e-04 9.99976037e-01 -9.91365814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98439141799997 meters 0.06042602396222217 Centerline is valid? [True, True] Translation: X:159.71, Y:8.97, Z:-0.99 [[ 9.98730687e-01 -4.95893984e-02 8.82642575e-03 1.59705991e+02] [ 4.95897782e-02 9.98769655e-01 1.75960774e-04 8.97490640e+00] [-8.82429198e-03 2.61963070e-04 9.99961031e-01 -9.91830244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04439141799998 meters 0.0608498386913518 Centerline is valid? [True, True] Translation: X:159.77, Y:8.99, Z:-0.99 [[ 9.98907772e-01 -4.56694037e-02 9.87766267e-03 1.59765976e+02] [ 4.56696895e-02 9.98956576e-01 1.96744749e-04 8.98525841e+00] [-9.87634130e-03 2.54579928e-04 9.99951195e-01 -9.91478615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10439141799998 meters 0.0599504822721602 Centerline is valid? [True, True] Translation: X:159.83, Y:9.00, Z:-0.99 [[ 9.99093877e-01 -4.15996529e-02 8.99409135e-03 1.59826084e+02] [ 4.15997255e-02 9.99134341e-01 1.79086603e-04 8.99880668e+00] [-8.99375547e-03 1.95227403e-04 9.99959536e-01 -9.93487480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16439141799998 meters 0.06058261361111718 Centerline is valid? [True, True] Translation: X:159.89, Y:9.01, Z:-0.99 [[ 9.99251955e-01 -3.79454523e-02 7.46150123e-03 1.59885646e+02] [ 3.79454004e-02 9.99279803e-01 1.48570307e-04 9.00548216e+00] [-7.46176505e-03 1.34670483e-04 9.99972152e-01 -9.94058264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22439141799998 meters 0.060596391462514165 Centerline is valid? [True, True] Translation: X:159.95, Y:9.01, Z:-0.99 [[ 9.99407061e-01 -3.35227969e-02 7.85796575e-03 1.59946850e+02] [ 3.35226029e-02 9.99437947e-01 1.56437207e-04 9.01408310e+00] [-7.85879337e-03 1.07075017e-04 9.99969113e-01 -9.93953615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28439141799998 meters 0.06054151973395454 Centerline is valid? [True, True] Translation: X:160.01, Y:9.02, Z:-0.99 [[ 9.99519576e-01 -2.96970902e-02 8.87130862e-03 1.60007709e+02] [ 2.96966935e-02 9.99558940e-01 1.76465392e-04 9.02497710e+00] [-8.87263635e-03 8.70679187e-05 9.99960634e-01 -9.94140373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344391418 meters 0.061281742032023155 Centerline is valid? [True, True] Translation: X:160.07, Y:9.03, Z:-0.99 [[ 9.99579110e-01 -2.73955927e-02 9.54382323e-03 1.60068876e+02] [ 2.73950308e-02 9.99624668e-01 1.89631453e-04 9.03146765e+00] [-9.54543619e-03 7.19016919e-05 9.99954439e-01 -9.91477801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404391418 meters 0.06103825833189248 Centerline is valid? [True, True] Translation: X:160.13, Y:9.04, Z:-0.99 [[ 9.99566823e-01 -2.79839177e-02 9.11412867e-03 1.60131414e+02] [ 2.79834322e-02 9.99608371e-01 1.80819054e-04 9.03640697e+00] [-9.11561933e-03 7.43038745e-05 9.99958449e-01 -9.92138322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464391418 meters 0.061760531327838576 Centerline is valid? [True, True] Translation: X:160.19, Y:9.04, Z:-0.99 [[ 9.99541579e-01 -2.94153491e-02 7.16720878e-03 1.60192402e+02] [ 2.94150868e-02 9.99567273e-01 1.42020632e-04 9.03993952e+00] [-7.16828491e-03 6.88685420e-05 9.99974305e-01 -9.94445380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters 0.05981209682950305 Centerline is valid? [True, True] Translation: X:160.25, Y:9.04, Z:-1.00 [[ 9.99428269e-01 -3.35765214e-02 3.96891241e-03 1.60254404e+02] [ 3.35764739e-02 9.99436148e-01 7.86308964e-05 9.04495268e+00] [-3.96931468e-03 5.46761431e-05 9.99992121e-01 -9.97240910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters 0.060416678135543 Centerline is valid? [True, True] Translation: X:160.32, Y:9.05, Z:-1.00 [[ 9.99349891e-01 -3.59868911e-02 2.17675687e-03 1.60315595e+02] [ 3.59868819e-02 9.99352261e-01 4.34057851e-05 9.04542555e+00] [-2.17690894e-03 3.49571257e-05 9.99997630e-01 -9.97583903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters 0.06071953073851322 Centerline is valid? [True, True] Translation: X:160.38, Y:9.05, Z:-1.00 [[ 9.99247558e-01 -3.86760623e-02 2.91220939e-03 1.60378083e+02] [ 3.86760592e-02 9.99251800e-01 5.73994163e-05 9.04710502e+00] [-2.91225045e-03 5.52765561e-05 9.99995758e-01 -9.97057270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters 0.060298885952342084 Centerline is valid? [True, True] Translation: X:160.44, Y:9.05, Z:-1.00 [[ 9.99262948e-01 -3.83111679e-02 2.41143229e-03 1.60439428e+02] [ 3.83111650e-02 9.99265857e-01 4.74136512e-05 9.04766502e+00] [-2.41147842e-03 4.50060753e-05 9.99997091e-01 -9.97565566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76439141799997 meters 0.06046512875045756 Centerline is valid? [True, True] Translation: X:160.50, Y:9.05, Z:-1.00 [[ 9.99367557e-01 -3.53601435e-02 3.76120137e-03 1.60500781e+02] [ 3.53601162e-02 9.99374633e-01 7.37789609e-05 9.05478029e+00] [-3.76145807e-03 5.92642176e-05 9.99992924e-01 -9.96393271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82439141799998 meters 0.06054547246209507 Centerline is valid? [True, True] Translation: X:160.56, Y:9.06, Z:-1.00 [[ 9.99473178e-01 -3.22127870e-02 3.96270111e-03 1.60561609e+02] [ 3.22127325e-02 9.99481032e-01 7.76052704e-05 9.05850136e+00] [-3.96314448e-03 5.00850448e-05 9.99992145e-01 -9.95663161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88439141799998 meters 0.060453368843083576 Centerline is valid? [True, True] Translation: X:160.62, Y:9.07, Z:-0.99 [[ 9.99617262e-01 -2.72916114e-02 4.52737262e-03 1.60623069e+02] [ 2.72914901e-02 9.99627514e-01 8.85789808e-05 9.06505558e+00] [-4.52810370e-03 3.50136669e-05 9.99989747e-01 -9.94686515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94439141799998 meters 0.06051859706043836 Centerline is valid? [True, True] Translation: X:160.69, Y:9.07, Z:-0.99 [[ 9.99712420e-01 -2.33875427e-02 5.30103321e-03 1.60685493e+02] [ 2.33873222e-02 9.99726474e-01 1.03593385e-04 9.06787628e+00] [-5.30200603e-03 2.04133780e-05 9.99985944e-01 -9.94730198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00439141799998 meters 0.061181615519918735 Centerline is valid? [True, True] Translation: X:160.75, Y:9.07, Z:-0.99 [[ 9.99810399e-01 -1.87551448e-02 5.23551515e-03 1.60746657e+02] [ 1.87548673e-02 9.99824107e-01 1.02096663e-04 9.07174142e+00] [-5.23650909e-03 -3.88591357e-06 9.99986289e-01 -9.94263477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06439141799999 meters 0.060886795187829794 Centerline is valid? [True, True] Translation: X:160.81, Y:9.07, Z:-1.00 [[ 9.99802169e-01 -1.94993927e-02 3.92387708e-03 1.60809212e+02] [ 1.94992426e-02 9.99809869e-01 7.64874858e-05 9.07141020e+00] [-3.92462249e-03 4.02770997e-08 9.99992299e-01 -9.96248078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124391418 meters 0.060163514907377154 Centerline is valid? [True, True] Translation: X:160.87, Y:9.07, Z:-1.00 [[ 9.99751131e-01 -2.22652488e-02 1.39080144e-03 1.60871813e+02] [ 2.22652321e-02 9.99752099e-01 2.75271538e-05 9.07096028e+00] [-1.39106956e-03 3.44621368e-06 9.99999032e-01 -9.97316605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184391418 meters 0.06083468437473918 Centerline is valid? [True, True] Translation: X:160.93, Y:9.07, Z:-1.00 [[ 9.99667348e-01 -2.57690489e-02 -1.07218366e-03 1.60934186e+02] [ 2.57690420e-02 9.99667923e-01 -2.03084804e-05 9.07014583e+00] [ 1.07235094e-03 -7.32742091e-06 9.99999425e-01 -9.96771118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters 0.06191173348632495 Centerline is valid? [True, True] Translation: X:161.00, Y:9.07, Z:-1.00 [[ 9.99625557e-01 -2.73180868e-02 -1.57092352e-03 1.60995090e+02] [ 2.73180732e-02 9.99626791e-01 -3.01450190e-05 9.06763881e+00] [ 1.57116075e-03 -1.27808724e-05 9.99998766e-01 -9.97964358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters 0.06013610942532275 Centerline is valid? [True, True] Translation: X:161.06, Y:9.07, Z:-1.00 [[ 9.99637865e-01 -2.69058085e-02 -4.64166074e-04 1.61055602e+02] [ 2.69058073e-02 9.99637973e-01 -8.88214401e-06 9.06805107e+00] [ 4.64237015e-04 -3.60983547e-06 9.99999892e-01 -9.95425017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters 0.06056061699049663 Centerline is valid? [True, True] Translation: X:161.12, Y:9.07, Z:-1.00 [[ 9.99659593e-01 -2.60902018e-02 -1.46112840e-05 1.61116633e+02] [ 2.60902018e-02 9.99659593e-01 -1.36940546e-07 9.06742757e+00] [ 1.46098829e-05 -2.44317413e-07 1.00000000e+00 -9.95402797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters 0.06085892525565066 Centerline is valid? [True, True] Translation: X:161.18, Y:9.07, Z:-0.99 [[ 9.99632687e-01 -2.70852796e-02 9.37596624e-04 1.61178961e+02] [ 2.70852744e-02 9.99633127e-01 1.82261028e-05 9.06824155e+00] [-9.37746304e-04 7.17565374e-06 9.99999560e-01 -9.93073473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48439141799997 meters 0.06046798191661133 Centerline is valid? [True, True] Translation: X:161.24, Y:9.06, Z:-1.00 [[ 9.99608731e-01 -2.79624853e-02 6.95338632e-04 1.61240264e+02] [ 2.79624824e-02 9.99608973e-01 1.38920545e-05 9.06078207e+00] [-6.95455192e-04 5.55677532e-06 9.99999758e-01 -9.95557565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54439141799998 meters 0.060564320703933555 Centerline is valid? [True, True] Translation: X:161.30, Y:9.06, Z:-0.99 [[ 9.99628841e-01 -2.72257796e-02 9.67826728e-04 1.61301205e+02] [ 2.72257744e-02 9.99629310e-01 1.85853077e-05 9.06255375e+00] [-9.67973964e-04 7.77142251e-06 9.99999531e-01 -9.94409883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60439141799998 meters 0.060843122289204785 Centerline is valid? [True, True] Translation: X:161.36, Y:9.06, Z:-0.99 [[ 9.99729663e-01 -2.32498025e-02 2.16007466e-04 1.61361381e+02] [ 2.32498022e-02 9.99729687e-01 4.16222656e-06 9.06243614e+00] [-2.16045847e-04 8.61029499e-07 9.99999977e-01 -9.94641035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66439141799998 meters 0.061169263446493594 Centerline is valid? [True, True] Translation: X:161.42, Y:9.06, Z:-1.00 [[ 9.99775549e-01 -2.11848951e-02 -2.29132624e-04 1.61422215e+02] [ 2.11848947e-02 9.99775575e-01 -4.27374043e-06 9.06177833e+00] [ 2.29171740e-04 -5.81369329e-07 9.99999974e-01 -9.96240756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72439141799998 meters 0.061426526169265375 Centerline is valid? [True, True] Translation: X:161.48, Y:9.06, Z:-1.00 [[ 9.99768792e-01 -2.14644217e-02 -1.28088095e-03 1.61483680e+02] [ 2.14644083e-02 9.99769613e-01 -2.42083076e-05 9.05919586e+00] [ 1.28110547e-03 -3.29064120e-06 9.99999179e-01 -9.97277439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78439141799998 meters 0.0619973551400453 Centerline is valid? [True, True] Translation: X:161.54, Y:9.06, Z:-1.00 [[ 9.99731757e-01 -2.30565361e-02 -2.19342255e-03 1.61544543e+02] [ 2.30565007e-02 9.99734163e-01 -4.14067407e-05 9.05845259e+00] [ 2.19379415e-03 -9.17701497e-06 9.99997594e-01 -9.95892637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844391418 meters 0.061595480419021624 Centerline is valid? [True, True] Translation: X:161.61, Y:9.06, Z:-1.00 [[ 9.99638574e-01 -2.67191584e-02 -2.96781422e-03 1.61605295e+02] [ 2.67191090e-02 9.99642979e-01 -5.63094229e-05 9.05530260e+00] [ 2.96825919e-03 -2.30082805e-05 9.99995594e-01 -9.96356574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904391418 meters 0.061227092846202 Centerline is valid? [True, True] Translation: X:161.67, Y:9.05, Z:-1.00 [[ 9.99489634e-01 -3.19289432e-02 -1.00753196e-03 1.61665188e+02] [ 3.19289401e-02 9.99490141e-01 -1.91719442e-05 9.04882745e+00] [ 1.00763040e-03 -1.30072680e-05 9.99999492e-01 -9.97010435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964391418 meters 0.061201685313738916 Centerline is valid? [True, True] Translation: X:161.73, Y:9.05, Z:-1.00 [[ 9.99345861e-01 -3.61459631e-02 1.14825343e-03 1.61725912e+02] [ 3.61459619e-02 9.99346521e-01 2.18340019e-05 9.04725821e+00] [-1.14829228e-03 1.96850053e-05 9.99999341e-01 -9.95896304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters 0.061313726262168106 Centerline is valid? [True, True] Translation: X:161.79, Y:9.05, Z:-0.99 [[ 9.99271142e-01 -3.80624825e-02 2.90371759e-03 1.61786944e+02] [ 3.80624828e-02 9.99275360e-01 5.51675822e-05 9.04967427e+00] [-2.90371326e-03 5.53953281e-05 9.99995783e-01 -9.94841315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters 0.06134485817117778 Centerline is valid? [True, True] Translation: X:161.85, Y:9.05, Z:-1.00 [[ 9.99346906e-01 -3.60283309e-02 2.77878128e-03 1.61847104e+02] [ 3.60283236e-02 9.99350768e-01 5.26788639e-05 9.04810297e+00] [-2.77887514e-03 4.74703717e-05 9.99996138e-01 -9.96451897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters 0.06093535447901064 Centerline is valid? [True, True] Translation: X:161.91, Y:9.05, Z:-1.00 [[ 9.99391526e-01 -3.48125742e-02 2.15907564e-03 1.61908377e+02] [ 3.48125669e-02 9.99393858e-01 4.09813128e-05 9.04892765e+00] [-2.15919360e-03 3.42065882e-05 9.99997668e-01 -9.97235559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters 0.06114622337696625 Centerline is valid? [True, True] Translation: X:161.97, Y:9.05, Z:-1.00 [[ 9.99544163e-01 -3.01794397e-02 8.17003778e-04 1.61969708e+02] [ 3.01794370e-02 9.99544497e-01 1.55791999e-05 9.05459197e+00] [-8.17101802e-04 9.08461578e-06 9.99999666e-01 -9.97777284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26439141799997 meters 0.06189252968110709 Centerline is valid? [True, True] Translation: X:162.03, Y:9.06, Z:-1.00 [[ 9.99666072e-01 -2.58330751e-02 6.30393551e-04 1.62029743e+02] [ 2.58330727e-02 9.99666270e-01 1.19546393e-05 9.05642796e+00] [-6.30491996e-04 4.33435514e-06 9.99999801e-01 -9.97573522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32439141799998 meters 0.06096393748501645 Centerline is valid? [True, True] Translation: X:162.09, Y:9.06, Z:-1.00 [[ 9.99822502e-01 -1.87702660e-02 1.62523498e-03 1.62090327e+02] [ 1.87702409e-02 9.99823823e-01 3.06928602e-05 9.05891410e+00] [-1.62552476e-03 -1.81360183e-07 9.99998679e-01 -9.98821117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38439141799998 meters 0.060846888875150384 Centerline is valid? [True, True] Translation: X:162.15, Y:9.06, Z:-1.00 [[ 9.99887911e-01 -1.48560775e-02 1.86082458e-03 1.62151413e+02] [ 1.48560377e-02 9.99889642e-01 3.52185604e-05 9.06188566e+00] [-1.86114243e-03 -7.57013277e-06 9.99998268e-01 -9.99194942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44439141799998 meters 0.06133800118350585 Centerline is valid? [True, True] Translation: X:162.21, Y:9.06, Z:-1.00 [[ 9.99935804e-01 -1.13230630e-02 -4.20553984e-04 1.62211757e+02] [ 1.13230607e-02 9.99935892e-01 -7.88896899e-06 9.06403199e+00] [ 4.20616350e-04 3.12650428e-06 9.99999912e-01 -1.00094413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50439141799998 meters 0.061917482828997374 Centerline is valid? [True, True] Translation: X:162.27, Y:9.06, Z:-1.00 [[ 9.99936158e-01 -1.12480680e-02 -1.07718805e-03 1.62271759e+02] [ 1.12480526e-02 9.99936738e-01 -2.03251526e-05 9.06472048e+00] [ 1.07734853e-03 8.20758707e-06 9.99999420e-01 -1.00194275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56439141799999 meters 0.061657859775911004 Centerline is valid? [True, True] Translation: X:162.33, Y:9.06, Z:-1.00 [[ 9.99858611e-01 -1.68148088e-02 1.40149135e-04 1.62332127e+02] [ 1.68148086e-02 9.99858621e-01 2.68924461e-06 9.05962561e+00] [-1.40174540e-04 -3.32283488e-07 9.99999990e-01 -9.99713458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624391418 meters 0.062217985877161174 Centerline is valid? [True, True] Translation: X:162.39, Y:9.06, Z:-1.00 [[ 9.99724768e-01 -2.33791594e-02 1.95008651e-03 1.62392636e+02] [ 2.33791320e-02 9.99726670e-01 3.68117661e-05 9.05591340e+00] [-1.95041412e-03 8.78969573e-06 9.99998098e-01 -9.98331247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684391418 meters 0.06125599811468908 Centerline is valid? [True, True] Translation: X:162.45, Y:9.05, Z:-1.00 [[ 9.99384562e-01 -3.46573111e-02 5.41914294e-03 1.62452588e+02] [ 3.46572665e-02 9.99399251e-01 1.02165993e-04 9.04590965e+00] [-5.41942820e-03 8.57095646e-05 9.99985311e-01 -9.97611870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters 0.062469680177114434 Centerline is valid? [True, True] Translation: X:162.51, Y:9.04, Z:-1.00 [[ 9.98969155e-01 -4.51507759e-02 4.69417733e-03 1.62513776e+02] [ 4.51508580e-02 9.98980176e-01 8.85314467e-05 9.03557985e+00] [-4.69338736e-03 1.23505950e-04 9.99988978e-01 -9.99454168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters 0.06162565396230057 Centerline is valid? [True, True] Translation: X:162.57, Y:9.04, Z:-1.00 [[ 9.98736217e-01 -5.01872982e-02 2.68417432e-03 1.62574755e+02] [ 5.01873431e-02 9.98739820e-01 5.06809700e-05 9.04400321e+00] [-2.68333532e-03 8.40946571e-05 9.99996396e-01 -1.00078723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters 0.061921844397566976 Centerline is valid? [True, True] Translation: X:162.63, Y:9.04, Z:-1.00 [[ 9.98605646e-01 -5.27840976e-02 7.77011096e-04 1.62634472e+02] [ 5.27841021e-02 9.98605947e-01 1.46382712e-05 9.04081173e+00] [-7.76700570e-04 2.63959729e-05 9.99999698e-01 -1.00203596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters 0.06143188856597984 Centerline is valid? [True, True] Translation: X:162.70, Y:9.05, Z:-1.00 [[ 9.98634581e-01 -5.21930702e-02 2.20401034e-03 1.62695427e+02] [ 5.21931057e-02 9.98637010e-01 4.14379557e-05 9.04588216e+00] [-2.20316907e-03 7.36527693e-05 9.99997570e-01 -1.00103947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98439141799997 meters 0.06308308866998896 Centerline is valid? [True, True] Translation: X:162.76, Y:9.04, Z:-1.00 [[ 9.98762953e-01 -4.96226867e-02 3.18642934e-03 1.62755263e+02] [ 4.96227473e-02 9.98768031e-01 6.01007194e-05 9.04180362e+00] [-3.18548612e-03 9.80930059e-05 9.99994922e-01 -1.00067710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04439141799998 meters 0.061729572040960135 Centerline is valid? [True, True] Translation: X:162.82, Y:9.06, Z:-1.00 [[ 9.98830851e-01 -4.82310107e-02 3.27128433e-03 1.62816670e+02] [ 4.82310668e-02 9.98836203e-01 6.17858076e-05 9.05635759e+00] [-3.27045722e-03 9.60639626e-05 9.99994647e-01 -1.00154464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10439141799998 meters 0.06249181968478472 Centerline is valid? [True, True] Translation: X:162.88, Y:9.06, Z:-1.00 [[ 9.98798554e-01 -4.89953342e-02 9.51737575e-04 1.62877420e+02] [ 4.89953393e-02 9.98799007e-01 1.80000529e-05 9.05695123e+00] [-9.51476464e-04 2.86522786e-05 9.99999547e-01 -1.00339360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16439141799998 meters 0.0630283439783113 Centerline is valid? [True, True] Translation: X:162.94, Y:9.06, Z:-1.00 [[ 9.98570853e-01 -5.34436760e-02 1.57303782e-04 1.62937936e+02] [ 5.34436762e-02 9.98570866e-01 3.05394865e-06 9.06403478e+00] [-1.57242188e-04 5.35730830e-06 9.99999988e-01 -1.00266881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22439141799998 meters 0.06345540751666733 Centerline is valid? [True, True] Translation: X:163.00, Y:9.07, Z:-1.00 [[ 9.98389066e-01 -5.66816831e-02 2.54140951e-03 1.62998560e+02] [ 5.66817447e-02 9.98392296e-01 4.78122566e-05 9.06765787e+00] [-2.54003375e-03 9.63162908e-05 9.99996769e-01 -1.00122105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28439141799998 meters 0.06160288400337281 Centerline is valid? [True, True] Translation: X:163.06, Y:9.09, Z:-1.00 [[ 9.98137558e-01 -6.08263210e-02 4.64472335e-03 1.63058557e+02] [ 6.08265723e-02 9.98148346e-01 8.72823187e-05 9.08654389e+00] [-4.64143199e-03 1.95402840e-04 9.99989209e-01 -9.99596466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344391418 meters 0.0635503514460561 Centerline is valid? [True, True] Translation: X:163.12, Y:9.08, Z:-1.00 [[ 9.98094045e-01 -6.15910538e-02 3.84959295e-03 1.63120000e+02] [ 6.15912321e-02 9.98101455e-01 7.23465936e-05 9.08445193e+00] [-3.84674022e-03 1.64892468e-04 9.99992588e-01 -1.00176322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404391418 meters 0.06207578229550438 Centerline is valid? [True, True] Translation: X:163.18, Y:9.10, Z:-1.00 [[ 9.98254717e-01 -5.90551144e-02 1.20290823e-04 1.63179538e+02] [ 5.90551146e-02 9.98254724e-01 2.25572689e-06 9.10216925e+00] [-1.20214095e-04 4.85199835e-06 9.99999993e-01 -1.00493935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464391418 meters 0.061152058125833623 Centerline is valid? [True, True] Translation: X:163.24, Y:9.12, Z:-1.00 [[ 9.98481843e-01 -5.50806536e-02 -3.61943947e-04 1.63239486e+02] [ 5.50806548e-02 9.98481908e-01 -6.78132948e-06 9.11968205e+00] [ 3.61768003e-04 -1.31650752e-05 9.99999934e-01 -1.00439599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters 0.06122900961415412 Centerline is valid? [True, True] Translation: X:163.30, Y:9.13, Z:-1.00 [[ 9.98849013e-01 -4.79040161e-02 2.41956909e-03 1.63298618e+02] [ 4.79040467e-02 9.98851941e-01 4.53753180e-05 9.12689233e+00] [-2.41896494e-03 7.05840590e-05 9.99997072e-01 -1.00384485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters 0.06147648283469053 Centerline is valid? [True, True] Translation: X:163.36, Y:9.14, Z:-1.00 [[ 9.98996693e-01 -4.45396529e-02 4.67184765e-03 1.63359197e+02] [ 4.45397299e-02 9.99007610e-01 8.76073906e-05 9.13865937e+00] [-4.67111336e-03 1.20563339e-04 9.99989083e-01 -1.00277155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters 0.06061941975560368 Centerline is valid? [True, True] Translation: X:163.42, Y:9.16, Z:-1.00 [[ 9.99105512e-01 -4.19437146e-02 5.37592330e-03 1.63420405e+02] [ 4.19437792e-02 9.99119967e-01 1.00771329e-04 9.15510685e+00] [-5.37541903e-03 1.24805349e-04 9.99985545e-01 -1.00464525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters 0.06041926714057162 Centerline is valid? [True, True] Translation: X:163.48, Y:9.16, Z:-1.01 [[ 9.99188504e-01 -4.01148806e-02 3.62338748e-03 1.63481828e+02] [ 4.01148981e-02 9.99195071e-01 6.78983607e-05 9.16060396e+00] [-3.62319465e-03 7.75085579e-05 9.99993433e-01 -1.00716971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76439141799997 meters 0.0607080541510525 Centerline is valid? [True, True] Translation: X:163.54, Y:9.17, Z:-1.01 [[ 9.99352261e-01 -3.59579138e-02 1.44468918e-03 1.63543461e+02] [ 3.59579122e-02 9.99353305e-01 2.71070272e-05 9.17471605e+00] [-1.44472962e-03 2.48585380e-05 9.99998956e-01 -1.00836731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82439141799998 meters 0.060223374145534345 Centerline is valid? [True, True] Translation: X:163.60, Y:9.19, Z:-1.01 [[ 9.99501776e-01 -3.14076495e-02 3.12409046e-03 1.63604880e+02] [ 3.14076205e-02 9.99506657e-01 5.83656072e-05 9.18552261e+00] [-3.12438234e-03 3.97837195e-05 9.99995118e-01 -1.00735492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88439141799998 meters 0.0611333649617308 Centerline is valid? [True, True] Translation: X:163.67, Y:9.19, Z:-1.01 [[ 9.99541953e-01 -2.99912341e-02 4.05088913e-03 1.63665913e+02] [ 2.99911742e-02 9.99550161e-01 7.55363244e-05 9.19016988e+00] [-4.05133230e-03 4.59891962e-05 9.99991792e-01 -1.00706121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94439141799998 meters 0.06017501896094951 Centerline is valid? [True, True] Translation: X:163.73, Y:9.20, Z:-1.01 [[ 9.99458781e-01 -3.26188358e-02 4.26110771e-03 1.63727297e+02] [ 3.26187939e-02 9.99467862e-01 7.93403313e-05 9.19760010e+00] [-4.26142821e-03 5.96948036e-05 9.99990918e-01 -1.00745837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00439141799998 meters 0.059468279451539846 Centerline is valid? [True, True] Translation: X:163.79, Y:9.20, Z:-1.01 [[ 9.99334936e-01 -3.61687010e-02 4.63797490e-03 1.63788501e+02] [ 3.61686902e-02 9.99345695e-01 8.62254000e-05 9.20110774e+00] [-4.63805891e-03 8.15814228e-05 9.99989241e-01 -1.00841221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06439141799999 meters 0.059646102000827046 Centerline is valid? [True, True] Translation: X:163.85, Y:9.20, Z:-1.01 [[ 9.99175026e-01 -4.03404089e-02 4.68175584e-03 1.63849096e+02] [ 4.03404440e-02 9.99185989e-01 8.69615492e-05 9.20365824e+00] [-4.68145290e-03 1.01974301e-04 9.99989037e-01 -1.00872296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124391418 meters 0.060541969972338704 Centerline is valid? [True, True] Translation: X:163.91, Y:9.20, Z:-1.01 [[ 9.98979052e-01 -4.48285307e-02 5.59072587e-03 1.63910208e+02] [ 4.48286513e-02 9.98994685e-01 1.03798763e-04 9.19914020e+00] [-5.58975858e-03 1.46931911e-04 9.99984366e-01 -1.00897395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184391418 meters 0.061897613211028775 Centerline is valid? [True, True] Translation: X:163.97, Y:9.20, Z:-1.01 [[ 9.98785512e-01 -4.87925767e-02 6.84000346e-03 1.63970058e+02] [ 4.87928507e-02 9.98808911e-01 1.26902993e-04 9.19566422e+00] [-6.83804834e-03 2.06994397e-04 9.99976599e-01 -1.00811671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters 0.0619925657741877 Centerline is valid? [True, True] Translation: X:164.03, Y:9.20, Z:-1.01 [[ 9.98792634e-01 -4.84949198e-02 7.84331656e-03 1.64032259e+02] [ 4.84952721e-02 9.98823402e-01 1.45369519e-04 9.19730353e+00] [-7.84113781e-03 2.35169766e-04 9.99969230e-01 -1.00818113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters 0.06039100414425928 Centerline is valid? [True, True] Translation: X:164.09, Y:9.21, Z:-1.01 [[ 9.99063154e-01 -4.26642767e-02 7.25072996e-03 1.64092911e+02] [ 4.26644260e-02 9.99089450e-01 1.34159291e-04 9.20860947e+00] [-7.24985162e-03 1.75314627e-04 9.99973704e-01 -1.01084996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters 0.060306074601371676 Centerline is valid? [True, True] Translation: X:164.15, Y:9.22, Z:-1.01 [[ 9.99373724e-01 -3.50109609e-02 5.13743329e-03 1.64153296e+02] [ 3.50109349e-02 9.99386925e-01 9.50226526e-05 9.21735407e+00] [-5.13761049e-03 8.49032005e-05 9.99986799e-01 -1.01254105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters 0.05994732325330577 Centerline is valid? [True, True] Translation: X:164.21, Y:9.23, Z:-1.01 [[ 9.99772725e-01 -2.10687413e-02 3.25662808e-03 1.64213104e+02] [ 2.10686569e-02 9.99778029e-01 6.02160930e-05 9.22825829e+00] [-3.25717388e-03 8.41037236e-06 9.99994695e-01 -1.01328695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48439141799997 meters 0.059971567586092546 Centerline is valid? [True, True] Translation: X:164.27, Y:9.23, Z:-1.01 [[ 9.99925912e-01 -1.07363322e-02 5.73601194e-03 1.64274827e+02] [ 1.07358999e-02 9.99942363e-01 1.06142922e-04 9.23224244e+00] [-5.73682092e-03 -4.45538078e-05 9.99983543e-01 -1.01268923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54439141799998 meters 0.059552324257650606 Centerline is valid? [True, True] Translation: X:164.34, Y:9.24, Z:-1.01 [[ 9.99959388e-01 -6.00169398e-03 6.72328965e-03 1.64335689e+02] [ 6.00099446e-03 9.99981986e-01 1.24213710e-04 9.23554857e+00] [-6.72391403e-03 -8.38622413e-05 9.99977391e-01 -1.01258204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60439141799998 meters 0.059648943470414946 Centerline is valid? [True, True] Translation: X:164.40, Y:9.24, Z:-1.01 [[ 9.99979597e-01 -2.60659985e-03 5.83184284e-03 1.64396411e+02] [ 2.60601741e-03 9.99996599e-01 1.07469617e-04 9.23725322e+00] [-5.83210314e-03 -9.22695403e-05 9.99982989e-01 -1.01446069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66439141799998 meters 0.05936005925580511 Centerline is valid? [True, True] Translation: X:164.46, Y:9.23, Z:-1.02 [[ 9.99977542e-01 -4.46541914e-03 4.99761107e-03 1.64459320e+02] [ 4.46501475e-03 9.99990028e-01 9.20706097e-05 9.22834313e+00] [-4.99797236e-03 -6.97541348e-05 9.99987508e-01 -1.01626684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72439141799998 meters 0.05946526384342339 Centerline is valid? [True, True] Translation: X:164.52, Y:9.23, Z:-1.02 [[ 9.99962984e-01 -8.21177321e-03 2.56837260e-03 1.64519831e+02] [ 8.21167906e-03 9.99966282e-01 4.72009586e-05 9.22671430e+00] [-2.56867360e-03 -2.61085600e-05 9.99996701e-01 -1.01828129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78439141799998 meters 0.05990280732325039 Centerline is valid? [True, True] Translation: X:164.58, Y:9.22, Z:-1.02 [[ 9.99884434e-01 -1.47625662e-02 3.63119788e-03 1.64582030e+02] [ 1.47624211e-02 9.99891027e-01 6.67419619e-05 9.21652154e+00] [-3.63178746e-03 -1.31289765e-05 9.99993405e-01 -1.01669049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844391418 meters 0.05946827767005961 Centerline is valid? [True, True] Translation: X:164.64, Y:9.21, Z:-1.02 [[ 9.99838349e-01 -1.73286864e-02 4.79498889e-03 1.64643129e+02] [ 1.73284636e-02 9.99849847e-01 8.80091990e-05 9.21193334e+00] [-4.79579399e-03 -4.90518175e-06 9.99988500e-01 -1.01634228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904391418 meters 0.05927102363050484 Centerline is valid? [True, True] Translation: X:164.70, Y:9.21, Z:-1.02 [[ 9.99820853e-01 -1.79147354e-02 6.10936802e-03 1.64704913e+02] [ 1.79143893e-02 9.99839518e-01 1.11358623e-04 9.20531230e+00] [-6.11038254e-03 -1.89307637e-06 9.99981331e-01 -1.01591872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964391418 meters 0.06008444829363389 Centerline is valid? [True, True] Translation: X:164.77, Y:9.20, Z:-1.02 [[ 9.99806220e-01 -1.88915508e-02 5.53456692e-03 1.64767664e+02] [ 1.88912828e-02 9.99821539e-01 1.00708703e-04 9.19742407e+00] [-5.53548176e-03 3.86588094e-06 9.99984679e-01 -1.01791160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters 0.059858653686463224 Centerline is valid? [True, True] Translation: X:164.83, Y:9.19, Z:-1.02 [[ 9.99749641e-01 -2.18040544e-02 5.02385779e-03 1.64828638e+02] [ 2.18038719e-02 9.99762263e-01 9.11085930e-05 9.19200401e+00] [-5.02464997e-03 1.84537684e-05 9.99987376e-01 -1.01853363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters 0.059482428528183647 Centerline is valid? [True, True] Translation: X:164.89, Y:9.18, Z:-1.02 [[ 9.99557136e-01 -2.89939652e-02 6.69939153e-03 1.64889557e+02] [ 2.89938052e-02 9.99579584e-01 1.21013614e-04 9.18099898e+00] [-6.70008366e-03 7.32808318e-05 9.99977552e-01 -1.01742822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters 0.05970568894737003 Centerline is valid? [True, True] Translation: X:164.95, Y:9.17, Z:-1.02 [[ 9.99404758e-01 -3.35302763e-02 8.11478177e-03 1.64949890e+02] [ 3.35301922e-02 9.99437694e-01 1.46452280e-04 9.17422208e+00] [-8.11512937e-03 1.25725087e-04 9.99967064e-01 -1.01701732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters 0.060078316759699796 Centerline is valid? [True, True] Translation: X:165.01, Y:9.17, Z:-1.02 [[ 9.99238823e-01 -3.82757201e-02 7.53282281e-03 1.65011048e+02] [ 3.82757828e-02 9.99267205e-01 1.35895080e-04 9.16896224e+00] [-7.53250427e-03 1.52533049e-04 9.99971619e-01 -1.01910481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26439141799997 meters 0.06027465492248476 Centerline is valid? [True, True] Translation: X:165.07, Y:9.16, Z:-1.02 [[ 9.99215290e-01 -3.91454372e-02 6.03643624e-03 1.65073561e+02] [ 3.91454935e-02 9.99233516e-01 1.08862853e-04 9.16223400e+00] [-6.03607089e-03 1.27521849e-04 9.99981775e-01 -1.02137035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32439141799998 meters 0.06046165186712566 Centerline is valid? [True, True] Translation: X:165.13, Y:9.16, Z:-1.02 [[ 9.99310883e-01 -3.69350165e-02 3.68293370e-03 1.65134503e+02] [ 3.69350228e-02 9.99317667e-01 6.63144986e-05 9.16136663e+00] [-3.68287004e-03 6.97604403e-05 9.99993216e-01 -1.02458711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38439141799998 meters 0.05974103535207741 Centerline is valid? [True, True] Translation: X:165.20, Y:9.17, Z:-1.02 [[ 9.99488142e-01 -3.18399026e-02 3.11051147e-03 1.65195454e+02] [ 3.18398826e-02 9.99492981e-01 5.59518625e-05 9.16918952e+00] [-3.11071588e-03 4.31150971e-05 9.99995161e-01 -1.02317377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44439141799998 meters 0.060070365057056756 Centerline is valid? [True, True] Translation: X:165.26, Y:9.17, Z:-1.02 [[ 9.99585626e-01 -2.85544542e-02 3.63589424e-03 1.65256631e+02] [ 2.85544053e-02 9.99592238e-01 6.53833690e-05 9.17204461e+00] [-3.63627865e-03 3.84645219e-05 9.99993388e-01 -1.02238797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50439141799998 meters 0.06041274524925455 Centerline is valid? [True, True] Translation: X:165.32, Y:9.17, Z:-1.02 [[ 9.99614486e-01 -2.71880599e-02 5.62932278e-03 1.65319002e+02] [ 2.71879216e-02 9.99630335e-01 1.01111569e-04 9.17441950e+00] [-5.62999085e-03 5.19769980e-05 9.99984150e-01 -1.02205885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56439141799999 meters 0.05953862745469877 Centerline is valid? [True, True] Translation: X:165.38, Y:9.17, Z:-1.02 [[ 9.99581426e-01 -2.84513335e-02 5.24347930e-03 1.65380387e+02] [ 2.84512320e-02 9.99595177e-01 9.39601312e-05 9.17291369e+00] [-5.24402991e-03 5.52626444e-05 9.99986248e-01 -1.02334173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624391418 meters 0.060222564299478934 Centerline is valid? [True, True] Translation: X:165.44, Y:9.18, Z:-1.02 [[ 9.99506270e-01 -3.11594265e-02 4.03800126e-03 1.65442484e+02] [ 3.11593886e-02 9.99514426e-01 7.22965245e-05 9.17571813e+00] [-4.03829323e-03 5.35608211e-05 9.99991845e-01 -1.02350411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684391418 meters 0.059718237745061846 Centerline is valid? [True, True] Translation: X:165.50, Y:9.18, Z:-1.02 [[ 9.99465598e-01 -3.22900852e-02 5.08614963e-03 1.65504173e+02] [ 3.22900408e-02 9.99478537e-01 9.08687814e-05 9.17664245e+00] [-5.08643155e-03 7.34117584e-05 9.99987061e-01 -1.02302779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters 0.06081387660813073 Centerline is valid? [True, True] Translation: X:165.57, Y:9.18, Z:-1.02 [[ 9.99422106e-01 -3.34202853e-02 6.20794365e-03 1.65566193e+02] [ 3.34202423e-02 9.99441382e-01 1.10692953e-04 9.17688319e+00] [-6.20817517e-03 9.68419971e-05 9.99980724e-01 -1.02214217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters 0.059920781678801854 Centerline is valid? [True, True] Translation: X:165.63, Y:9.18, Z:-1.02 [[ 9.99382984e-01 -3.43545226e-02 7.30883095e-03 1.65628107e+02] [ 3.43544899e-02 9.99409702e-01 1.30066675e-04 9.18278414e+00] [-7.30898494e-03 1.21104738e-04 9.99973282e-01 -1.02266231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters 0.059536181622575804 Centerline is valid? [True, True] Translation: X:165.69, Y:9.19, Z:-1.02 [[ 9.99372941e-01 -3.47003816e-02 7.04335457e-03 1.65690580e+02] [ 3.47003616e-02 9.99397753e-01 1.25079589e-04 9.18732793e+00] [-7.04345305e-03 1.19405794e-04 9.99975187e-01 -1.02367931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters 0.060602664176596995 Centerline is valid? [True, True] Translation: X:165.75, Y:9.18, Z:-1.02 [[ 9.99387066e-01 -3.45108086e-02 5.87342055e-03 1.65751485e+02] [ 3.45107924e-02 9.99404320e-01 1.04143130e-04 9.18340114e+00] [-5.87351594e-03 9.86170998e-05 9.99982746e-01 -1.02405059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98439141799997 meters 0.05956662722450204 Centerline is valid? [True, True] Translation: X:165.81, Y:9.18, Z:-1.03 [[ 9.99349720e-01 -3.58880414e-02 3.49091839e-03 1.65813984e+02] [ 3.58880440e-02 9.99355815e-01 6.19020463e-05 9.18495023e+00] [-3.49089114e-03 6.34204403e-05 9.99993905e-01 -1.02630676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04439141799998 meters 0.06042821863915434 Centerline is valid? [True, True] Translation: X:165.88, Y:9.19, Z:-1.03 [[ 9.99190345e-01 -4.01416346e-02 2.70248628e-03 1.65875358e+02] [ 4.01416520e-02 9.99193998e-01 4.78321629e-05 9.19152246e+00] [-2.70222813e-03 6.06888285e-05 9.99996347e-01 -1.02611040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10439141799998 meters 0.06469282909130647 Centerline is valid? [True, True] Translation: X:165.94, Y:9.17, Z:-1.03 [[ 9.98801402e-01 -4.88129145e-02 3.61360258e-03 1.65935498e+02] [ 4.88130029e-02 9.98807933e-01 6.37690873e-05 9.17268435e+00] [-3.61240768e-03 1.12698139e-04 9.99993469e-01 -1.02690204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16439141799998 meters 0.06598090964849664 Centerline is valid? [True, True] Translation: X:166.00, Y:9.17, Z:-1.03 [[ 9.98643562e-01 -5.18366245e-02 4.89898406e-03 1.65996101e+02] [ 5.18368234e-02 9.98655564e-01 8.64524165e-05 9.17307603e+00] [-4.89687909e-03 1.67612622e-04 9.99987996e-01 -1.02516856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22439141799998 meters 0.0617034627518225 Centerline is valid? [True, True] Translation: X:166.06, Y:9.20, Z:-1.02 [[ 9.98782148e-01 -4.88907989e-02 6.62656195e-03 1.66056190e+02] [ 4.88910984e-02 9.98804108e-01 1.16873898e-04 9.20088413e+00] [-6.62435136e-03 2.07248330e-04 9.99978037e-01 -1.02369617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28439141799998 meters 0.06123297130238247 Centerline is valid? [True, True] Translation: X:166.12, Y:9.21, Z:-1.02 [[ 9.99034670e-01 -4.33140087e-02 7.32293064e-03 1.66116468e+02] [ 4.33142253e-02 9.99061490e-01 1.29100385e-04 9.20790305e+00] [-7.32164985e-03 1.88211307e-04 9.99973179e-01 -1.02407448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344391418 meters 0.06030130720199965 Centerline is valid? [True, True] Translation: X:166.18, Y:9.22, Z:-1.03 [[ 9.99334428e-01 -3.57106660e-02 7.44639082e-03 1.66176536e+02] [ 3.57106791e-02 9.99362162e-01 1.31251426e-04 9.22368622e+00] [-7.44632830e-03 1.34751604e-04 9.99972267e-01 -1.02546158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404391418 meters 0.05897127510119591 Centerline is valid? [True, True] Translation: X:166.24, Y:9.23, Z:-1.03 [[ 9.99395710e-01 -3.41099926e-02 6.68754923e-03 1.66237271e+02] [ 3.41099677e-02 9.99418079e-01 1.17814737e-04 9.23326575e+00] [-6.68767626e-03 1.10368545e-04 9.99977631e-01 -1.02697383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464391418 meters 0.06237861881008944 Centerline is valid? [True, True] Translation: X:166.30, Y:9.22, Z:-1.03 [[ 9.99297599e-01 -3.69944146e-02 5.97682789e-03 1.66298592e+02] [ 3.69944471e-02 9.99315466e-01 1.05157652e-04 9.22220198e+00] [-5.97662679e-03 1.16025654e-04 9.99982133e-01 -1.02788279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters 0.05974462672685206 Centerline is valid? [True, True] Translation: X:166.36, Y:9.23, Z:-1.03 [[ 9.98998064e-01 -4.44442766e-02 5.25114388e-03 1.66359244e+02] [ 4.44444051e-02 9.99011855e-01 9.22751086e-05 9.23471849e+00] [-5.25005609e-03 1.41201311e-04 9.99986208e-01 -1.02953431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters 0.0605419103717661 Centerline is valid? [True, True] Translation: X:166.42, Y:9.24, Z:-1.03 [[ 9.98800857e-01 -4.87402271e-02 4.60843223e-03 1.66419795e+02] [ 4.87403720e-02 9.98811479e-01 8.09160666e-05 9.24074652e+00] [-4.60689888e-03 1.43797665e-04 9.99989378e-01 -1.03072637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters 0.062029890052514546 Centerline is valid? [True, True] Translation: X:166.48, Y:9.24, Z:-1.03 [[ 9.98672854e-01 -5.13023939e-02 4.53819709e-03 1.66479604e+02] [ 5.13025609e-02 9.98683153e-01 7.96858067e-05 9.23918677e+00] [-4.53630906e-03 1.53241081e-04 9.99989699e-01 -1.03196290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70439141799997 meters 0.06079189913979275 Centerline is valid? [True, True] Translation: X:166.54, Y:9.25, Z:-1.03 [[ 9.98746707e-01 -4.96024408e-02 6.67931907e-03 1.66539777e+02] [ 4.96027650e-02 9.98769018e-01 1.17204590e-04 9.24940836e+00] [-6.67691059e-03 2.14254996e-04 9.99977686e-01 -1.03084436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76439141799997 meters 0.060391623617375295 Centerline is valid? [True, True] Translation: X:166.60, Y:9.26, Z:-1.03 [[ 9.98836171e-01 -4.75200990e-02 8.25488855e-03 1.66599814e+02] [ 4.75205239e-02 9.98870251e-01 1.44773609e-04 9.25807704e+00] [-8.25244226e-03 2.47671512e-04 9.99965917e-01 -1.02977334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82439141799998 meters 0.05957296790136274 Centerline is valid? [True, True] Translation: X:166.66, Y:9.27, Z:-1.03 [[ 9.98992954e-01 -4.36844764e-02 1.02344900e-02 1.66660059e+02] [ 4.36849290e-02 9.99045342e-01 1.79435615e-04 9.26634955e+00] [-1.02325581e-02 2.67838055e-04 9.99947610e-01 -1.02996003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88439141799998 meters 0.060014515241418716 Centerline is valid? [True, True] Translation: X:166.72, Y:9.27, Z:-1.03 [[ 9.99147940e-01 -4.04412287e-02 8.24023828e-03 1.66719597e+02] [ 4.04414118e-02 9.99181901e-01 1.44474555e-04 9.27108618e+00] [-8.23933968e-03 1.88895415e-04 9.99966038e-01 -1.03077211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94439141799998 meters 0.0589409334835615 Centerline is valid? [True, True] Translation: X:166.78, Y:9.28, Z:-1.03 [[ 9.99329711e-01 -3.61022125e-02 6.06289143e-03 1.66779983e+02] [ 3.61022318e-02 9.99348096e-01 1.06299187e-04 9.27768467e+00] [-6.06277664e-03 1.12655976e-04 9.99981615e-01 -1.03327023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00439141799998 meters 0.06012955262249826 Centerline is valid? [True, True] Translation: X:166.84, Y:9.28, Z:-1.03 [[ 9.99417304e-01 -3.36852339e-02 5.50981223e-03 1.66841102e+02] [ 3.36852133e-02 9.99432488e-01 9.65732385e-05 9.27927927e+00] [-5.50993843e-03 8.90822341e-05 9.99984816e-01 -1.03373965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06439141799999 meters 0.05896551518432277 Centerline is valid? [True, True] Translation: X:166.90, Y:9.28, Z:-1.03 [[ 9.99502325e-01 -3.11453588e-02 5.00693432e-03 1.66902443e+02] [ 3.11453105e-02 9.99514863e-01 8.76546469e-05 9.28486603e+00] [-5.00723531e-03 6.83315005e-05 9.99987461e-01 -1.03429225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124391418 meters 0.05938135503921803 Centerline is valid? [True, True] Translation: X:166.96, Y:9.29, Z:-1.04 [[ 9.99512009e-01 -3.10312804e-02 3.57813116e-03 1.66964173e+02] [ 3.10312550e-02 9.99518413e-01 6.26167805e-05 9.29137920e+00] [-3.57835106e-03 4.84476764e-05 9.99993597e-01 -1.03538915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184391418 meters 0.058561817958981834 Centerline is valid? [True, True] Translation: X:167.03, Y:9.29, Z:-1.04 [[ 9.99461785e-01 -3.26020383e-02 3.63968500e-03 1.67025758e+02] [ 3.26020229e-02 9.99468411e-01 6.35537388e-05 9.29244808e+00] [-3.63982216e-03 5.51415605e-05 9.99993374e-01 -1.03581152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters 0.059518581685633856 Centerline is valid? [True, True] Translation: X:167.09, Y:9.29, Z:-1.03 [[ 9.99374816e-01 -3.48469528e-02 5.97222738e-03 1.67088086e+02] [ 3.48469530e-02 9.99392655e-01 1.04058517e-04 9.29229422e+00] [-5.97222630e-03 1.04120466e-04 9.99982161e-01 -1.03342476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters 0.06030265696953677 Centerline is valid? [True, True] Translation: X:167.15, Y:9.29, Z:-1.03 [[ 9.99303938e-01 -3.65348742e-02 7.53941545e-03 1.67150099e+02] [ 3.65349246e-02 9.99332368e-01 1.31086803e-04 9.29265031e+00] [-7.53917114e-03 1.44456417e-04 9.99971570e-01 -1.03195824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters 0.059403941869522685 Centerline is valid? [True, True] Translation: X:167.21, Y:9.30, Z:-1.03 [[ 9.99163984e-01 -4.00033591e-02 8.42994645e-03 1.67211410e+02] [ 4.00035475e-02 9.99199527e-01 1.46326324e-04 9.29629619e+00] [-8.42905205e-03 1.91023771e-04 9.99964457e-01 -1.03228299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters 0.05967261785910403 Centerline is valid? [True, True] Translation: X:167.27, Y:9.29, Z:-1.03 [[ 9.99107906e-01 -4.13542274e-02 8.55688883e-03 1.67272639e+02] [ 4.13544724e-02 9.99144527e-01 1.48372427e-04 9.29329711e+00] [-8.55570447e-03 2.05625558e-04 9.99963378e-01 -1.03270246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48439141799997 meters 0.05930625787232477 Centerline is valid? [True, True] Translation: X:167.34, Y:9.30, Z:-1.03 [[ 9.99141729e-01 -4.06450866e-02 7.98632483e-03 1.67335037e+02] [ 4.06452791e-02 9.99173630e-01 1.38264126e-04 9.29872342e+00] [-7.98534493e-03 1.86460944e-04 9.99968099e-01 -1.03432503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54439141799998 meters 0.05878648411508742 Centerline is valid? [True, True] Translation: X:167.40, Y:9.30, Z:-1.04 [[ 9.99248373e-01 -3.81699779e-02 6.76330105e-03 1.67396420e+02] [ 3.81700608e-02 9.99271251e-01 1.16867770e-04 9.30145678e+00] [-6.76283314e-03 1.41375683e-04 9.99977122e-01 -1.03566475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60439141799998 meters 0.05827804642498746 Centerline is valid? [True, True] Translation: X:167.46, Y:9.31, Z:-1.04 [[ 9.99433505e-01 -3.32188279e-02 5.40173481e-03 1.67457323e+02] [ 3.32188089e-02 9.99448099e-01 9.32657043e-05 9.31027234e+00] [-5.40185177e-03 8.62263265e-05 9.99985406e-01 -1.03733947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66439141799998 meters 0.0593008366740008 Centerline is valid? [True, True] Translation: X:167.52, Y:9.31, Z:-1.04 [[ 9.99539046e-01 -2.98763767e-02 5.39431490e-03 1.67518621e+02] [ 2.98763093e-02 9.99553599e-01 9.31021986e-05 9.31146985e+00] [-5.39468843e-03 6.81029376e-05 9.99985446e-01 -1.03802195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72439141799998 meters 0.05835113927288533 Centerline is valid? [True, True] Translation: X:167.58, Y:9.32, Z:-1.04 [[ 9.99729476e-01 -2.23307083e-02 6.50491278e-03 1.67579548e+02] [ 2.23304518e-02 9.99750638e-01 1.12081352e-04 9.31543697e+00] [-6.50579356e-03 3.32066100e-05 9.99978837e-01 -1.03729233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78439141799998 meters 0.05930223327306816 Centerline is valid? [True, True] Translation: X:167.64, Y:9.32, Z:-1.04 [[ 9.99856203e-01 -1.48850587e-02 8.12450472e-03 1.67641446e+02] [ 1.48844143e-02 9.99889211e-01 1.39785474e-04 9.31955778e+00] [-8.12568533e-03 -1.88368794e-05 9.99966986e-01 -1.03740403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844391418 meters 0.058616512075302274 Centerline is valid? [True, True] Translation: X:167.70, Y:9.32, Z:-1.04 [[ 9.99872719e-01 -1.33433786e-02 8.74645807e-03 1.67703824e+02] [ 1.33425757e-02 9.99910973e-01 1.50134937e-04 9.32115418e+00] [-8.74768270e-03 -3.34155486e-05 9.99961738e-01 -1.03776631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904391418 meters 0.059136101492982436 Centerline is valid? [True, True] Translation: X:167.77, Y:9.32, Z:-1.04 [[ 9.99887196e-01 -1.27707691e-02 7.90585782e-03 1.67765564e+02] [ 1.27700979e-02 9.99918450e-01 1.35379223e-04 9.32082482e+00] [-7.90694199e-03 -3.44053729e-05 9.99968739e-01 -1.03753220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters 0.058296674549870225 Centerline is valid? [True, True] Translation: X:167.83, Y:9.32, Z:-1.04 [[ 9.99848391e-01 -1.55893531e-02 7.75668415e-03 1.67826464e+02] [ 1.55887956e-02 9.99878479e-01 1.32337917e-04 9.31651754e+00] [-7.75780461e-03 -1.14004895e-05 9.99969908e-01 -1.03800837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters 0.05909470520210157 Centerline is valid? [True, True] Translation: X:167.89, Y:9.31, Z:-1.04 [[ 9.99742651e-01 -2.10095554e-02 8.55751868e-03 1.67888969e+02] [ 2.10090824e-02 9.99779274e-01 1.45183704e-04 9.31169191e+00] [-8.55868006e-03 3.46392741e-05 9.99963373e-01 -1.03855076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters 0.058921657663950425 Centerline is valid? [True, True] Translation: X:167.95, Y:9.30, Z:-1.04 [[ 9.99521723e-01 -3.02620981e-02 6.36637055e-03 1.67949017e+02] [ 3.02620252e-02 9.99541994e-01 1.07815588e-04 9.30423931e+00] [-6.36671744e-03 8.48952432e-05 9.99979729e-01 -1.03948807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters 0.06065849430748484 Centerline is valid? [True, True] Translation: X:168.01, Y:9.29, Z:-1.04 [[ 9.99222567e-01 -3.90924637e-02 5.10297244e-03 1.68009463e+02] [ 3.90925318e-02 9.99235591e-01 8.64234314e-05 9.29451079e+00] [-5.10245019e-03 1.13131870e-04 9.99986976e-01 -1.04081311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20439141799997 meters 0.05937662126600648 Centerline is valid? [True, True] Translation: X:168.07, Y:9.29, Z:-1.04 [[ 9.99020332e-01 -4.39250451e-02 5.38208333e-03 1.68070215e+02] [ 4.39251912e-02 9.99034819e-01 9.11263604e-05 9.29479891e+00] [-5.38089138e-03 1.45371952e-04 9.99985512e-01 -1.04052126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26439141799997 meters 0.06042975381571802 Centerline is valid? [True, True] Translation: X:168.13, Y:9.29, Z:-1.04 [[ 9.98744581e-01 -4.96397002e-02 6.72029507e-03 1.68131717e+02] [ 4.96400573e-02 9.98767166e-01 1.13749337e-04 9.28802514e+00] [-6.71765655e-03 2.19989298e-04 9.99977412e-01 -1.03988140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32439141799998 meters 0.061975239059959324 Centerline is valid? [True, True] Translation: X:168.19, Y:9.29, Z:-1.04 [[ 9.98608264e-01 -5.22550898e-02 7.13721558e-03 1.68192508e+02] [ 5.22555603e-02 9.98633738e-01 1.20666433e-04 9.28610309e+00] [-7.13376971e-03 2.52460702e-04 9.99974522e-01 -1.03999655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38439141799998 meters 0.06215055155097996 Centerline is valid? [True, True] Translation: X:168.25, Y:9.28, Z:-1.04 [[ 9.98487469e-01 -5.43903203e-02 8.02909876e-03 1.68252437e+02] [ 5.43909857e-02 9.98519706e-01 1.35626908e-04 9.28168978e+00] [-8.02459012e-03 3.01288828e-04 9.99967757e-01 -1.04020887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44439141799998 meters 0.05962133108440932 Centerline is valid? [True, True] Translation: X:168.31, Y:9.29, Z:-1.04 [[ 9.98423340e-01 -5.54902189e-02 8.46575671e-03 1.68314216e+02] [ 5.54910008e-02 9.98459177e-01 1.42693153e-04 9.29448952e+00] [-8.46063055e-03 3.27305137e-04 9.99964155e-01 -1.04295553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50439141799998 meters 0.0617306507233455 Centerline is valid? [True, True] Translation: X:168.37, Y:9.29, Z:-1.04 [[ 9.98487792e-01 -5.43294000e-02 8.39323667e-03 1.68374954e+02] [ 5.43301298e-02 9.98523018e-01 1.41194076e-04 9.28871476e+00] [-8.38851099e-03 3.15025077e-04 9.99964766e-01 -1.04247800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56439141799999 meters 0.06154218567633906 Centerline is valid? [True, True] Translation: X:168.44, Y:9.30, Z:-1.04 [[ 9.98629152e-01 -5.16240424e-02 8.64720934e-03 1.68435289e+02] [ 5.16247163e-02 9.98666545e-01 1.45413270e-04 9.29626658e+00] [-8.64318550e-03 3.01195798e-04 9.99962602e-01 -1.04281525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624391418 meters 0.060716973540644356 Centerline is valid? [True, True] Translation: X:168.50, Y:9.30, Z:-1.04 [[ 9.98698578e-01 -5.03685264e-02 8.01016546e-03 1.68496639e+02] [ 5.03690645e-02 9.98730664e-01 1.34667803e-04 9.30487231e+00] [-8.00678089e-03 2.68971998e-04 9.99967909e-01 -1.04303689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684391418 meters 0.060403397586945635 Centerline is valid? [True, True] Translation: X:168.56, Y:9.31, Z:-1.04 [[ 9.98719243e-01 -5.00057854e-02 7.70039079e-03 1.68558331e+02] [ 5.00062731e-02 9.98748895e-01 1.29309299e-04 9.31089677e+00] [-7.69722301e-03 2.55924160e-04 9.99970343e-01 -1.04357678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters 0.060078707615401204 Centerline is valid? [True, True] Translation: X:168.62, Y:9.32, Z:-1.04 [[ 9.98666213e-01 -5.11419047e-02 7.09224281e-03 1.68619254e+02] [ 5.11423485e-02 9.98691367e-01 1.18888255e-04 9.31666319e+00] [-7.08904184e-03 2.43984270e-04 9.99974843e-01 -1.04379774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters 0.06040796460343982 Centerline is valid? [True, True] Translation: X:168.68, Y:9.32, Z:-1.04 [[ 9.98481652e-01 -5.47841341e-02 5.75228664e-03 1.68679477e+02] [ 5.47844871e-02 9.98498198e-01 9.63090464e-05 9.32014332e+00] [-5.74892405e-03 2.18973257e-04 9.99983451e-01 -1.04455896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters 0.05881160388429099 Centerline is valid? [True, True] Translation: X:168.74, Y:9.33, Z:-1.04 [[ 9.98280956e-01 -5.84018793e-02 4.93500028e-03 1.68739637e+02] [ 5.84021834e-02 9.98293132e-01 8.25810655e-05 9.32976275e+00] [-4.93139978e-03 2.05775687e-04 9.99987819e-01 -1.04465589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters 0.061188780566992805 Centerline is valid? [True, True] Translation: X:168.80, Y:9.32, Z:-1.04 [[ 9.98238826e-01 -5.91132585e-02 4.98687362e-03 1.68800627e+02] [ 5.91135774e-02 9.98251260e-01 8.35439193e-05 9.32356414e+00] [-4.98309143e-03 2.11395156e-04 9.99987562e-01 -1.04479655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98439141799997 meters 0.06219623622600467 Centerline is valid? [True, True] Translation: X:168.86, Y:9.33, Z:-1.04 [[ 9.98329300e-01 -5.76059808e-02 4.48993563e-03 1.68860663e+02] [ 5.76062265e-02 9.98339380e-01 7.46813185e-05 9.32661606e+00] [-4.48678164e-03 1.84091700e-04 9.99989917e-01 -1.04418085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04439141799998 meters 0.05817993831477164 Centerline is valid? [True, True] Translation: X:168.92, Y:9.35, Z:-1.04 [[ 9.98457821e-01 -5.53103100e-02 4.76970112e-03 1.68921361e+02] [ 5.53105613e-02 9.98469196e-01 7.92962087e-05 9.34944809e+00] [-4.76678555e-03 1.84640927e-04 9.99988622e-01 -1.04318025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10439141799998 meters 0.05939456515902894 Centerline is valid? [True, True] Translation: X:168.98, Y:9.35, Z:-1.04 [[ 9.98754409e-01 -4.95940135e-02 5.48302179e-03 1.68980954e+02] [ 4.95942599e-02 9.98769443e-01 9.11065444e-05 9.35341313e+00] [-5.48079296e-03 1.80933345e-04 9.99984964e-01 -1.04216263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16439141799998 meters 0.06065400193477667 Centerline is valid? [True, True] Translation: X:169.04, Y:9.36, Z:-1.04 [[ 9.99096536e-01 -4.21220904e-02 5.64284943e-03 1.69040585e+02] [ 4.21222325e-02 9.99112461e-01 9.37100111e-05 9.35549077e+00] [-5.64178844e-03 1.44064068e-04 9.99984075e-01 -1.04162969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22439141799998 meters 0.05850035742581417 Centerline is valid? [True, True] Translation: X:169.10, Y:9.37, Z:-1.04 [[ 9.99263382e-01 -3.79815446e-02 5.48599272e-03 1.69100884e+02] [ 3.79816164e-02 9.99278434e-01 9.11388466e-05 9.37298178e+00] [-5.48549581e-03 1.17295159e-04 9.99984948e-01 -1.04285141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28439141799998 meters 0.05868294198996072 Centerline is valid? [True, True] Translation: X:169.16, Y:9.38, Z:-1.04 [[ 9.99433549e-01 -3.34292732e-02 3.88130091e-03 1.69160447e+02] [ 3.34292750e-02 9.99441084e-01 6.44118665e-05 9.37542507e+00] [-3.88128483e-03 6.53736951e-05 9.99992466e-01 -1.04378539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344391418 meters 0.05893426552416859 Centerline is valid? [True, True] Translation: X:169.22, Y:9.38, Z:-1.04 [[ 9.99484901e-01 -3.19451887e-02 3.07218118e-03 1.69221835e+02] [ 3.19451826e-02 9.99489621e-01 5.10522530e-05 9.37849776e+00] [-3.07224408e-03 4.71154329e-05 9.99995280e-01 -1.04470958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404391418 meters 0.05833219025690954 Centerline is valid? [True, True] Translation: X:169.28, Y:9.38, Z:-1.04 [[ 9.99476383e-01 -3.22433507e-02 2.70675070e-03 1.69282694e+02] [ 3.22433472e-02 9.99480047e-01 4.49573042e-05 9.37934410e+00] [-2.70679289e-03 4.23409386e-05 9.99996336e-01 -1.04497609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters 0.05835346300015681 Centerline is valid? [True, True] Translation: X:169.35, Y:9.38, Z:-1.04 [[ 9.99438111e-01 -3.34278822e-02 2.45729425e-03 1.69345240e+02] [ 3.34278830e-02 9.99441131e-01 4.07568257e-05 9.38255559e+00] [-2.45728336e-03 4.14082199e-05 9.99996980e-01 -1.04452086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters 0.05797551795092454 Centerline is valid? [True, True] Translation: X:169.41, Y:9.39, Z:-1.04 [[ 9.99404708e-01 -3.44135438e-02 2.43673299e-03 1.69407070e+02] [ 3.44135477e-02 9.99407678e-01 4.03437649e-05 9.39404280e+00] [-2.43667803e-03 4.35368783e-05 9.99997030e-01 -1.04269772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters 0.059145533906928074 Centerline is valid? [True, True] Translation: X:169.47, Y:9.38, Z:-1.04 [[ 9.99304973e-01 -3.71683683e-02 2.84325008e-03 1.69468254e+02] [ 3.71683852e-02 9.99309016e-01 4.69072700e-05 9.38411696e+00] [-2.84302890e-03 5.88043460e-05 9.99995957e-01 -1.04457701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters 0.05838125962839407 Centerline is valid? [True, True] Translation: X:169.53, Y:9.39, Z:-1.04 [[ 9.99179360e-01 -4.04023803e-02 2.87301221e-03 1.69529535e+02] [ 4.04024110e-02 9.99183488e-01 4.73833154e-05 9.39033364e+00] [-2.87258076e-03 6.87321895e-05 9.99995872e-01 -1.04409747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70439141799997 meters 0.05951257315181873 Centerline is valid? [True, True] Translation: X:169.59, Y:9.39, Z:-1.05 [[ 9.99138620e-01 -4.14126247e-02 2.64802193e-03 1.69591071e+02] [ 4.14126544e-02 9.99142127e-01 4.36200696e-05 9.38640207e+00] [-2.64755669e-03 6.60791210e-05 9.99996493e-01 -1.04503743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76439141799997 meters 0.05895901297899001 Centerline is valid? [True, True] Translation: X:169.65, Y:9.39, Z:-1.05 [[ 9.99152520e-01 -4.10636738e-02 2.83133041e-03 1.69653301e+02] [ 4.10637065e-02 9.99156529e-01 4.65818715e-05 9.38861354e+00] [-2.83085508e-03 6.97225266e-05 9.99995991e-01 -1.04560869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82439141799998 meters 0.05800455659126589 Centerline is valid? [True, True] Translation: X:169.71, Y:9.40, Z:-1.05 [[ 9.99313477e-01 -3.68996164e-02 3.31557843e-03 1.69713776e+02] [ 3.68996391e-02 9.99318975e-01 5.43594447e-05 9.39820563e+00] [-3.31532628e-03 6.80215217e-05 9.99994502e-01 -1.04524042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88439141799998 meters 0.057852899931088504 Centerline is valid? [True, True] Translation: X:169.77, Y:9.40, Z:-1.05 [[ 9.99480862e-01 -3.19820937e-02 3.89258317e-03 1.69773151e+02] [ 3.19820880e-02 9.99488440e-01 6.37274775e-05 9.40184215e+00] [-3.89263002e-03 6.07985435e-05 9.99992422e-01 -1.04560321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94439141799998 meters 0.0586824190591859 Centerline is valid? [True, True] Translation: X:169.83, Y:9.41, Z:-1.05 [[ 9.99676258e-01 -2.51987590e-02 3.52158327e-03 1.69834311e+02] [ 2.51987120e-02 9.99682460e-01 5.77382638e-05 9.40707563e+00] [-3.52191996e-03 3.10197910e-05 9.99993798e-01 -1.04718626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00439141799998 meters 0.05733790755372713 Centerline is valid? [True, True] Translation: X:169.90, Y:9.41, Z:-1.05 [[ 9.99745124e-01 -2.24047467e-02 2.77762244e-03 1.69895822e+02] [ 2.24047066e-02 9.99748982e-01 4.55426512e-05 9.40908729e+00] [-2.77794558e-03 1.67007726e-05 9.99996141e-01 -1.04874786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06439141799999 meters 0.057748159859291756 Centerline is valid? [True, True] Translation: X:169.96, Y:9.41, Z:-1.05 [[ 9.99775304e-01 -2.11117492e-02 1.90666451e-03 1.69958387e+02] [ 2.11117278e-02 9.99777122e-01 3.13294187e-05 9.41127762e+00] [-1.90690097e-03 8.93060300e-06 9.99998182e-01 -1.05018530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124391418 meters 0.058244565501697355 Centerline is valid? [True, True] Translation: X:170.02, Y:9.41, Z:-1.05 [[ 9.99769112e-01 -2.14305081e-02 1.56717667e-03 1.70020159e+02] [ 2.14304942e-02 9.99770340e-01 2.56970085e-05 9.41126409e+00] [-1.56736746e-03 7.89429523e-06 9.99998772e-01 -1.05147430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184391418 meters 0.05871411927751192 Centerline is valid? [True, True] Translation: X:170.08, Y:9.41, Z:-1.05 [[ 9.99766479e-01 -2.15830194e-02 1.07696764e-03 1.70081383e+02] [ 2.15830129e-02 9.99767060e-01 1.76446408e-05 9.41017176e+00] [-1.07709759e-03 5.60368599e-06 9.99999420e-01 -1.05188032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters 0.05764644389450134 Centerline is valid? [True, True] Translation: X:170.14, Y:9.41, Z:-1.05 [[ 9.99793934e-01 -2.02109985e-02 1.89854323e-03 1.70142542e+02] [ 2.02109759e-02 9.99795737e-01 3.10857663e-05 9.41175161e+00] [-1.89878370e-03 7.29205086e-06 9.99998197e-01 -1.05022274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters 0.057697609485895925 Centerline is valid? [True, True] Translation: X:170.21, Y:9.41, Z:-1.05 [[ 9.99814663e-01 -1.90636101e-02 2.68680777e-03 1.70205075e+02] [ 1.90635617e-02 9.99818273e-01 4.36217069e-05 9.41062369e+00] [-2.68715109e-03 7.60650349e-06 9.99996390e-01 -1.05120984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters 0.05717869107231623 Centerline is valid? [True, True] Translation: X:170.27, Y:9.41, Z:-1.05 [[ 9.99833816e-01 -1.79471747e-02 3.19979029e-03 1.70266403e+02] [ 1.79471010e-02 9.99838936e-01 5.17232169e-05 9.40848625e+00] [-3.20020321e-03 5.71233831e-06 9.99994879e-01 -1.05049589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters 0.057579865449889696 Centerline is valid? [True, True] Translation: X:170.33, Y:9.40, Z:-1.05 [[ 9.99811710e-01 -1.91495663e-02 3.13661089e-03 1.70328958e+02] [ 1.91495016e-02 9.99816630e-01 5.06699721e-05 9.40490299e+00] [-3.13700603e-03 9.40410379e-06 9.99995080e-01 -1.05085170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48439141799997 meters 0.058367662414761635 Centerline is valid? [True, True] Translation: X:170.39, Y:9.40, Z:-1.05 [[ 9.99765038e-01 -2.15437531e-02 2.39481945e-03 1.70390811e+02] [ 2.15437223e-02 9.99767906e-01 3.86578668e-05 9.40192808e+00] [-2.39509647e-03 1.29445415e-05 9.99997132e-01 -1.05174429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54439141799998 meters 0.05820659815141041 Centerline is valid? [True, True] Translation: X:170.45, Y:9.40, Z:-1.05 [[ 9.99653190e-01 -2.62921540e-02 1.49049021e-03 1.70451957e+02] [ 2.62921469e-02 9.99654301e-01 2.44019847e-05 9.39544305e+00] [-1.49061653e-03 1.47946655e-05 9.99998889e-01 -1.05256219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60439141799998 meters 0.05822625435184114 Centerline is valid? [True, True] Translation: X:170.51, Y:9.39, Z:-1.05 [[ 9.99555775e-01 -2.97470989e-02 1.83388408e-03 1.70514086e+02] [ 2.97470951e-02 9.99557457e-01 2.93779910e-05 9.39126015e+00] [-1.83394642e-03 2.51877835e-05 9.99998318e-01 -1.05326358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66439141799998 meters 0.05836656300705492 Centerline is valid? [True, True] Translation: X:170.57, Y:9.38, Z:-1.05 [[ 9.99426044e-01 -3.38062708e-02 2.17213095e-03 1.70573880e+02] [ 3.38062756e-02 9.99428404e-01 3.44985695e-05 9.38486683e+00] [-2.17205563e-03 3.89528886e-05 9.99997640e-01 -1.05397711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72439141799998 meters 0.05845842752809793 Centerline is valid? [True, True] Translation: X:170.64, Y:9.39, Z:-1.05 [[ 9.99310061e-01 -3.68854020e-02 4.34383780e-03 1.70635208e+02] [ 3.68854503e-02 9.99319498e-01 6.90302179e-05 9.38515806e+00] [-4.34342801e-03 9.12418217e-05 9.99990563e-01 -1.05343123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78439141799998 meters 0.060121634489110905 Centerline is valid? [True, True] Translation: X:170.70, Y:9.38, Z:-1.05 [[ 9.99256498e-01 -3.83163923e-02 4.27843874e-03 1.70696154e+02] [ 3.83164525e-02 9.99265653e-01 6.79477254e-05 9.37872701e+00] [-4.27790039e-03 9.60373884e-05 9.99990845e-01 -1.05427650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844391418 meters 0.05866889072942962 Centerline is valid? [True, True] Translation: X:170.76, Y:9.38, Z:-1.05 [[ 9.99082991e-01 -4.25452477e-02 4.80403413e-03 1.70756898e+02] [ 4.25453741e-02 9.99094533e-01 7.59237146e-05 9.38218060e+00] [-4.80291443e-03 1.28535338e-04 9.99988458e-01 -1.05436747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904391418 meters 0.06014441209313382 Centerline is valid? [True, True] Translation: X:170.82, Y:9.38, Z:-1.06 [[ 9.98896181e-01 -4.66649252e-02 5.36704911e-03 1.70816478e+02] [ 4.66651427e-02 9.98910585e-01 8.47702082e-05 9.37518017e+00] [-5.36515796e-03 1.65777475e-04 9.99985594e-01 -1.05540591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters 0.058797412580246476 Centerline is valid? [True, True] Translation: X:170.88, Y:9.38, Z:-1.06 [[ 9.98566547e-01 -5.32100969e-02 5.79112068e-03 1.70876596e+02] [ 5.32104600e-02 9.98583316e-01 9.14596782e-05 9.37815624e+00] [-5.78778307e-03 2.16819620e-04 9.99983227e-01 -1.05606817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters 0.058236723491592556 Centerline is valid? [True, True] Translation: X:170.94, Y:9.38, Z:-1.06 [[ 9.98280566e-01 -5.83725588e-02 5.34379874e-03 1.70937244e+02] [ 5.83729421e-02 9.98294842e-01 8.43493393e-05 9.38153031e+00] [-5.33961041e-03 2.27728948e-04 9.99985718e-01 -1.05649257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters 0.05904295549771667 Centerline is valid? [True, True] Translation: X:171.00, Y:9.38, Z:-1.06 [[ 9.98153447e-01 -6.05044679e-02 5.37639160e-03 1.70997459e+02] [ 6.05048869e-02 9.98167897e-01 8.48318071e-05 9.38114230e+00] [-5.37167420e-03 2.40622805e-04 9.99985544e-01 -1.05760005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters 0.058647618234268784 Centerline is valid? [True, True] Translation: X:171.06, Y:9.39, Z:-1.06 [[ 9.98070923e-01 -6.18669842e-02 5.18742057e-03 1.71058069e+02] [ 6.18673935e-02 9.98084375e-01 8.16815686e-05 9.38524798e+00] [-5.18253681e-03 2.39408191e-04 9.99986542e-01 -1.05809087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20439141799997 meters 0.05813175107658651 Centerline is valid? [True, True] Translation: X:171.12, Y:9.39, Z:-1.06 [[ 9.98058828e-01 -6.20650886e-02 5.14791702e-03 1.71120313e+02] [ 6.20654941e-02 9.98072076e-01 8.11122418e-05 9.39197990e+00] [-5.14302646e-03 2.38553224e-04 9.99986746e-01 -1.05836686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26439141799997 meters 0.0586439195074383 Centerline is valid? [True, True] Translation: X:171.18, Y:9.39, Z:-1.06 [[ 9.98054867e-01 -6.21253067e-02 5.18926943e-03 1.71181827e+02] [ 6.21257227e-02 9.98068328e-01 8.11412568e-05 9.38941362e+00] [-5.18428639e-03 2.41403688e-04 9.99986532e-01 -1.05877157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32439141799998 meters 0.06038012482960568 Centerline is valid? [True, True] Translation: X:171.24, Y:9.39, Z:-1.06 [[ 9.98090096e-01 -6.15504240e-02 5.26358070e-03 1.71243183e+02] [ 6.15508473e-02 9.98103946e-01 8.16924822e-05 9.38516268e+00] [-5.25862887e-03 2.42441395e-04 9.99986144e-01 -1.05910834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38439141799998 meters 0.06375043416996383 Centerline is valid? [True, True] Translation: X:171.30, Y:9.38, Z:-1.06 [[ 9.98118533e-01 -6.10476297e-02 5.70802081e-03 1.71304662e+02] [ 6.10481215e-02 9.98134820e-01 8.82039914e-05 9.38091636e+00] [-5.70275897e-03 2.60425909e-04 9.99983705e-01 -1.05841252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44439141799998 meters 0.06019900900774243 Centerline is valid? [True, True] Translation: X:171.37, Y:9.40, Z:-1.06 [[ 9.98066224e-01 -6.18109818e-02 6.57388037e-03 1.71366369e+02] [ 6.18116552e-02 9.98087826e-01 1.00889494e-04 9.39566639e+00] [-6.56754605e-03 3.05648031e-04 9.99978387e-01 -1.05827328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50439141799998 meters 0.060376708035550036 Centerline is valid? [True, True] Translation: X:171.43, Y:9.40, Z:-1.06 [[ 9.97953663e-01 -6.37173025e-02 5.34718614e-03 1.71427226e+02] [ 6.37177760e-02 9.97967955e-01 8.19256943e-05 9.39940219e+00] [-5.34154050e-03 2.58952762e-04 9.99985700e-01 -1.05959001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56439141799999 meters 0.05718105514167222 Centerline is valid? [True, True] Translation: X:171.49, Y:9.42, Z:-1.06 [[ 9.97823459e-01 -6.58128077e-02 4.12544505e-03 1.71487908e+02] [ 6.58131076e-02 9.97831965e-01 6.31497562e-05 9.41890750e+00] [-4.12065701e-03 2.08496051e-04 9.99991488e-01 -1.06040027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624391418 meters 0.05844130411841229 Centerline is valid? [True, True] Translation: X:171.55, Y:9.42, Z:-1.06 [[ 9.97816469e-01 -6.59353633e-02 3.84983889e-03 1.71550262e+02] [ 6.59356252e-02 9.97823877e-01 5.89737922e-05 9.41949560e+00] [-3.84534963e-03 1.94996513e-04 9.99992588e-01 -1.06059740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684391418 meters 0.05729275728472831 Centerline is valid? [True, True] Translation: X:171.61, Y:9.43, Z:-1.06 [[ 9.97920946e-01 -6.42545650e-02 5.01363842e-03 1.71611239e+02] [ 6.42549897e-02 9.97933510e-01 7.64939117e-05 9.42926870e+00] [-5.00819287e-03 2.45816408e-04 9.99987429e-01 -1.06068250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters 0.058830551848453774 Centerline is valid? [True, True] Translation: X:171.67, Y:9.42, Z:-1.06 [[ 9.98107238e-01 -6.12420608e-02 5.59925743e-03 1.71671244e+02] [ 6.12425434e-02 9.98122910e-01 8.53736342e-05 9.42488108e+00] [-5.59397558e-03 2.57700724e-04 9.99984320e-01 -1.06031288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters 0.05727131468882974 Centerline is valid? [True, True] Translation: X:171.73, Y:9.44, Z:-1.06 [[ 9.98290864e-01 -5.81019621e-02 6.28586134e-03 1.71731710e+02] [ 5.81025083e-02 9.98310618e-01 9.58415562e-05 9.43571045e+00] [-6.28081070e-03 2.69546561e-04 9.99980239e-01 -1.06047259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters 0.057550044784925154 Centerline is valid? [True, True] Translation: X:171.79, Y:9.44, Z:-1.06 [[ 9.98464731e-01 -5.50470119e-02 6.16498278e-03 1.71792688e+02] [ 5.50474792e-02 9.98483734e-01 9.39984227e-05 9.44183380e+00] [-6.16080935e-03 2.45512651e-04 9.99980992e-01 -1.06087862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters 0.05645590233921807 Centerline is valid? [True, True] Translation: X:171.85, Y:9.45, Z:-1.06 [[ 9.98484661e-01 -5.47112834e-02 5.92095712e-03 1.71854993e+02] [ 5.47117087e-02 9.98502189e-01 9.02366835e-05 9.45354029e+00] [-5.91702560e-03 2.33845737e-04 9.99982467e-01 -1.06145008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98439141799997 meters 0.060442755694808226 Centerline is valid? [True, True] Translation: X:171.92, Y:9.44, Z:-1.06 [[ 9.98512466e-01 -5.43618457e-02 4.20059389e-03 1.71916233e+02] [ 5.43620580e-02 9.98521288e-01 6.37161766e-05 9.44168396e+00] [-4.19784615e-03 1.64731532e-04 9.99991175e-01 -1.06218783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04439141799998 meters 0.05774179486621907 Centerline is valid? [True, True] Translation: X:171.98, Y:9.46, Z:-1.06 [[ 9.98541082e-01 -5.37724601e-02 4.92239537e-03 1.71978031e+02] [ 5.37727480e-02 9.98553196e-01 7.39461468e-05 9.46046621e+00] [-4.91924989e-03 1.90852460e-04 9.99987882e-01 -1.06231132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10439141799998 meters 0.05829867260846597 Centerline is valid? [True, True] Translation: X:172.04, Y:9.46, Z:-1.06 [[ 9.98632431e-01 -5.20809243e-02 4.56553882e-03 1.72038397e+02] [ 5.20811553e-02 9.98642853e-01 6.83612510e-05 9.45963237e+00] [-4.56290303e-03 1.69510774e-04 9.99989576e-01 -1.06304903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16439141799998 meters 0.057703876994459856 Centerline is valid? [True, True] Translation: X:172.10, Y:9.47, Z:-1.06 [[ 9.98802763e-01 -4.86475938e-02 5.14320339e-03 1.72099151e+02] [ 4.86478417e-02 9.98815990e-01 7.69527482e-05 9.46771499e+00] [-5.14085735e-03 1.73345127e-04 9.99986771e-01 -1.06300306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22439141799998 meters 0.05590980947451411 Centerline is valid? [True, True] Translation: X:172.16, Y:9.48, Z:-1.06 [[ 9.99056503e-01 -4.30800293e-02 5.49672833e-03 1.72159866e+02] [ 4.30802283e-02 9.99071613e-01 8.22459222e-05 9.47737497e+00] [-5.49516839e-03 1.54631988e-04 9.99984889e-01 -1.06207738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28439141799998 meters 0.05701737711632978 Centerline is valid? [True, True] Translation: X:172.22, Y:9.47, Z:-1.06 [[ 9.99240834e-01 -3.86046469e-02 5.23806550e-03 1.72219259e+02] [ 3.86047662e-02 9.99254555e-01 7.83540961e-05 9.47485930e+00] [-5.23718565e-03 1.23919682e-04 9.99986278e-01 -1.06187010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344391418 meters 0.056727630990711216 Centerline is valid? [True, True] Translation: X:172.28, Y:9.49, Z:-1.06 [[ 9.99426930e-01 -3.34824811e-02 4.97334925e-03 1.72280286e+02] [ 3.34825251e-02 9.99439300e-01 7.44311664e-05 9.48577544e+00] [-4.97305284e-03 9.21317790e-05 9.99987630e-01 -1.06198295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404391418 meters 0.056661650803129036 Centerline is valid? [True, True] Translation: X:172.34, Y:9.49, Z:-1.06 [[ 9.99528195e-01 -3.04532651e-02 3.99824405e-03 1.72340760e+02] [ 3.04532695e-02 9.99536190e-01 5.98110922e-05 9.48794875e+00] [-3.99821106e-03 6.19767303e-05 9.99992005e-01 -1.06206896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters 0.056945442052883335 Centerline is valid? [True, True] Translation: X:172.40, Y:9.49, Z:-1.06 [[ 9.99617773e-01 -2.73967960e-02 3.70444371e-03 1.72402017e+02] [ 2.73967787e-02 9.99624636e-01 5.54067402e-05 9.49071816e+00] [-3.70457117e-03 4.61042625e-05 9.99993137e-01 -1.06219540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters 0.057152950347510924 Centerline is valid? [True, True] Translation: X:172.46, Y:9.49, Z:-1.06 [[ 9.99662458e-01 -2.57304940e-02 3.59318909e-03 1.72463007e+02] [ 2.57304672e-02 9.99668915e-01 5.37071354e-05 9.49110061e+00] [-3.59338135e-03 3.87654270e-05 9.99993543e-01 -1.06220258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters 0.05725407188823917 Centerline is valid? [True, True] Translation: X:172.52, Y:9.49, Z:-1.06 [[ 9.99671481e-01 -2.53944037e-02 3.47199266e-03 1.72523944e+02] [ 2.53943769e-02 9.99677509e-01 5.18153741e-05 9.49025566e+00] [-3.47218879e-03 3.63707383e-05 9.99993971e-01 -1.06257565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters 0.057293372277539056 Centerline is valid? [True, True] Translation: X:172.59, Y:9.49, Z:-1.06 [[ 9.99599596e-01 -2.80932252e-02 3.37897610e-03 1.72586172e+02] [ 2.80932151e-02 9.99605306e-01 5.04466814e-05 9.48964355e+00] [-3.37905965e-03 4.44998200e-05 9.99994290e-01 -1.06279521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70439141799997 meters 0.058198629303675406 Centerline is valid? [True, True] Translation: X:172.65, Y:9.49, Z:-1.06 [[ 9.99520192e-01 -3.08717162e-02 2.51451658e-03 1.72647570e+02] [ 3.08717196e-02 9.99523354e-01 3.74635807e-05 9.48535730e+00] [-2.51447461e-03 4.01818452e-05 9.99996838e-01 -1.06396100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76439141799997 meters 0.05769470834216579 Centerline is valid? [True, True] Translation: X:172.71, Y:9.48, Z:-1.06 [[ 9.99299375e-01 -3.73429239e-02 2.50296005e-03 1.72707795e+02] [ 3.73429484e-02 9.99302508e-01 3.69694961e-05 9.47976492e+00] [-2.50259481e-03 5.65243136e-05 9.99996867e-01 -1.06470625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82439141799998 meters 0.05731605417127045 Centerline is valid? [True, True] Translation: X:172.77, Y:9.48, Z:-1.06 [[ 9.99118824e-01 -4.19084770e-02 2.29256227e-03 1.72768168e+02] [ 4.19085095e-02 9.99121452e-01 3.38603588e-05 9.47914433e+00] [-2.29196718e-03 6.22473459e-05 9.99997372e-01 -1.06455186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88439141799998 meters 0.05762329108016064 Centerline is valid? [True, True] Translation: X:172.83, Y:9.47, Z:-1.07 [[ 9.98833804e-01 -4.82557200e-02 1.55497993e-03 1.72828131e+02] [ 4.82557427e-02 9.98835013e-01 2.29914832e-05 9.47418397e+00] [-1.55427787e-03 5.20720407e-05 9.99998791e-01 -1.06532022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94439141799998 meters 0.0590274838185095 Centerline is valid? [True, True] Translation: X:172.89, Y:9.47, Z:-1.07 [[ 9.98622805e-01 -5.24563245e-02 9.09824150e-04 1.72888200e+02] [ 5.24563339e-02 9.98623219e-01 1.34857125e-05 9.46871958e+00] [-9.09278932e-04 3.42588994e-05 9.99999586e-01 -1.06613653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00439141799998 meters 0.05945710085083941 Centerline is valid? [True, True] Translation: X:172.95, Y:9.46, Z:-1.07 [[ 9.98232674e-01 -5.93900442e-02 2.08609764e-03 1.72948348e+02] [ 5.93901094e-02 9.98234849e-01 3.07436668e-05 9.46374825e+00] [-2.08424123e-03 9.32042343e-05 9.99997824e-01 -1.06598474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06439141799999 meters 0.06011038697969936 Centerline is valid? [True, True] Translation: X:173.01, Y:9.46, Z:-1.07 [[ 9.97960646e-01 -6.37600365e-02 3.03420030e-03 1.73008790e+02] [ 6.37601944e-02 9.97965248e-01 4.47629536e-05 9.46099505e+00] [-3.03088054e-03 1.48789535e-04 9.99995396e-01 -1.06562198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124391418 meters 0.06009126978728445 Centerline is valid? [True, True] Translation: X:173.07, Y:9.46, Z:-1.07 [[ 9.97542752e-01 -7.00013364e-02 2.87595661e-03 1.73068448e+02] [ 7.00015040e-02 9.97546885e-01 4.24560600e-05 9.46083176e+00] [-2.87187354e-03 1.58969553e-04 9.99995864e-01 -1.06649442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184391418 meters 0.061418552294147735 Centerline is valid? [True, True] Translation: X:173.13, Y:9.46, Z:-1.07 [[ 9.97256785e-01 -7.39987528e-02 1.75749071e-03 1.73129102e+02] [ 7.39988216e-02 9.97258328e-01 2.59121029e-05 9.45822050e+00] [-1.75458971e-03 1.04211221e-04 9.99998455e-01 -1.06761396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters 0.06140378738753896 Centerline is valid? [True, True] Translation: X:173.19, Y:9.46, Z:-1.07 [[ 9.96898015e-01 -7.87039010e-02 2.07314231e-04 1.73189448e+02] [ 7.87039020e-02 9.96898037e-01 3.08429809e-06 9.45930056e+00] [-2.06913896e-04 1.32417082e-05 9.99999979e-01 -1.06903630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters 0.0632127076818534 Centerline is valid? [True, True] Translation: X:173.25, Y:9.46, Z:-1.07 [[ 9.96756416e-01 -8.04772844e-02 -2.31411286e-04 1.73250055e+02] [ 8.04772858e-02 9.96756443e-01 -3.39997985e-06 9.45900733e+00] [ 2.30934311e-04 -1.52344005e-05 9.99999973e-01 -1.07000427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters 0.06378479190204404 Centerline is valid? [True, True] Translation: X:173.31, Y:9.46, Z:-1.07 [[ 9.96888908e-01 -7.88157421e-02 7.64642883e-04 1.73310356e+02] [ 7.88157565e-02 9.96889200e-01 1.12699840e-05 9.46128025e+00] [-7.63152484e-04 4.90309853e-05 9.99999708e-01 -1.06963101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters 0.0656360965361758 Centerline is valid? [True, True] Translation: X:173.37, Y:9.47, Z:-1.07 [[ 9.97343392e-01 -7.27517350e-02 3.65281108e-03 1.73371116e+02] [ 7.27520243e-02 9.97350059e-01 5.37783662e-05 9.46547867e+00] [-3.64704381e-03 2.12113902e-04 9.99993327e-01 -1.06801098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48439141799997 meters 0.0635709318486822 Centerline is valid? [True, True] Translation: X:173.43, Y:9.47, Z:-1.07 [[ 9.97765123e-01 -6.66694774e-02 4.46536779e-03 1.73431727e+02] [ 6.66698487e-02 9.97775088e-01 6.58227470e-05 9.47378742e+00] [-4.45982111e-03 2.32029754e-04 9.99990028e-01 -1.06715265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54439141799998 meters 0.05593910776175972 Centerline is valid? [True, True] Translation: X:173.49, Y:9.50, Z:-1.07 [[ 9.98151981e-01 -6.05448706e-02 5.19052478e-03 1.73491841e+02] [ 6.05452897e-02 9.98165448e-01 7.65001657e-05 9.50411000e+00] [-5.18563418e-03 2.37903034e-04 9.99986526e-01 -1.06700413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60439141799998 meters 0.05559493176321984 Centerline is valid? [True, True] Translation: X:173.55, Y:9.51, Z:-1.07 [[ 9.98455273e-01 -5.52838345e-02 5.54661962e-03 1.73552787e+02] [ 5.52842321e-02 9.98470654e-01 8.17301288e-05 9.50948369e+00] [-5.54265527e-03 2.25036728e-04 9.99984614e-01 -1.06713689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66439141799998 meters 0.05977125256866812 Centerline is valid? [True, True] Translation: X:173.61, Y:9.50, Z:-1.07 [[ 9.98810126e-01 -4.85526133e-02 4.57986241e-03 1.73612718e+02] [ 4.85528139e-02 9.98820614e-01 6.74309087e-05 9.49814926e+00] [-4.57773493e-03 1.55014533e-04 9.99989510e-01 -1.06906263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72439141799998 meters 0.05559828989347605 Centerline is valid? [True, True] Translation: X:173.67, Y:9.52, Z:-1.07 [[ 9.99058931e-01 -4.31834444e-02 4.05505507e-03 1.73673384e+02] [ 4.31835572e-02 9.99067153e-01 5.97543982e-05 9.52130343e+00] [-4.05385273e-03 1.15413538e-04 9.99991776e-01 -1.06927910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78439141799998 meters 0.056088688991178255 Centerline is valid? [True, True] Translation: X:173.73, Y:9.53, Z:-1.07 [[ 9.99410834e-01 -3.42377228e-02 2.40076021e-03 1.73734388e+02] [ 3.42377367e-02 9.99413716e-01 3.53556729e-05 9.52684538e+00] [-2.40056319e-03 4.68617534e-05 9.99997118e-01 -1.07168365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844391418 meters 0.05565953667346034 Centerline is valid? [True, True] Translation: X:173.79, Y:9.53, Z:-1.07 [[ 9.99679459e-01 -2.52023600e-02 2.41271483e-03 1.73793564e+02] [ 2.52023477e-02 9.99682370e-01 3.54942684e-05 9.53224313e+00] [-2.41284301e-03 2.53231870e-05 9.99997089e-01 -1.07180018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904391418 meters 0.05568241116171686 Centerline is valid? [True, True] Translation: X:173.86, Y:9.54, Z:-1.07 [[ 9.99781961e-01 -2.06068985e-02 3.37443982e-03 1.73855334e+02] [ 2.06068479e-02 9.99787655e-01 4.97713888e-05 9.53742194e+00] [-3.37474891e-03 1.97760315e-05 9.99994305e-01 -1.07144131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters 0.05496730866215567 Centerline is valid? [True, True] Translation: X:173.92, Y:9.54, Z:-1.07 [[ 9.99829488e-01 -1.79265754e-02 4.43098916e-03 1.73916586e+02] [ 1.79264625e-02 9.99839306e-01 6.52027291e-05 9.53946966e+00] [-4.43144599e-03 1.42403498e-05 9.99990181e-01 -1.07115111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters 0.055431985008111896 Centerline is valid? [True, True] Translation: X:173.98, Y:9.54, Z:-1.07 [[ 9.99744447e-01 -2.20458881e-02 5.00191152e-03 1.73979229e+02] [ 2.20457964e-02 9.99756959e-01 7.34802500e-05 9.53732062e+00] [-5.00231578e-03 3.68096510e-05 9.99987488e-01 -1.07125636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters 0.055551512869010604 Centerline is valid? [True, True] Translation: X:174.04, Y:9.54, Z:-1.07 [[ 9.99595663e-01 -2.79849120e-02 5.03543845e-03 1.74039081e+02] [ 2.79848956e-02 9.99608343e-01 7.37333258e-05 9.53541477e+00] [-5.03552970e-03 6.72127065e-05 9.99987319e-01 -1.07247456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters 0.055423130758658096 Centerline is valid? [True, True] Translation: X:174.10, Y:9.53, Z:-1.07 [[ 9.99215821e-01 -3.93338806e-02 4.53739799e-03 1.74099622e+02] [ 3.93339842e-02 9.99226117e-01 6.64423703e-05 9.53114422e+00] [-4.53650002e-03 1.12083673e-04 9.99989704e-01 -1.07419491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20439141799997 meters 0.05994164800379911 Centerline is valid? [True, True] Translation: X:174.16, Y:9.51, Z:-1.08 [[ 9.98895595e-01 -4.68284795e-02 3.83201690e-03 1.74159280e+02] [ 4.68286084e-02 9.98902937e-01 5.61132449e-05 9.50576098e+00] [-3.83044063e-03 1.23396746e-04 9.99992656e-01 -1.07666338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26439141799997 meters 0.05511822828318878 Centerline is valid? [True, True] Translation: X:174.22, Y:9.53, Z:-1.08 [[ 9.98434534e-01 -5.57185057e-02 4.89181878e-03 1.74219870e+02] [ 5.57188224e-02 9.98446497e-01 7.16285667e-05 9.52972175e+00] [-4.88821036e-03 2.01049947e-04 9.99988032e-01 -1.07543865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32439141799998 meters 0.05840952872541845 Centerline is valid? [True, True] Translation: X:174.28, Y:9.51, Z:-1.08 [[ 9.98252940e-01 -5.88678957e-02 5.06337603e-03 1.74279645e+02] [ 5.88682760e-02 9.98265757e-01 7.40354671e-05 9.50914049e+00] [-5.05895321e-03 2.24166095e-04 9.99987178e-01 -1.07594355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38439141799998 meters 0.06813413266917646 Centerline is valid? [True, True] Translation: X:174.34, Y:9.48, Z:-1.08 [[ 9.98162402e-01 -6.03664069e-02 5.26458388e-03 1.74341402e+02] [ 6.03668385e-02 9.98176256e-01 7.70280439e-05 9.48380253e+00] [-5.25963254e-03 2.40919788e-04 9.99986139e-01 -1.07700797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44439141799998 meters 0.055623867188715266 Centerline is valid? [True, True] Translation: X:174.40, Y:9.53, Z:-1.08 [[ 9.98181108e-01 -5.99860956e-02 6.01201627e-03 1.74402649e+02] [ 5.99866522e-02 9.98199175e-01 8.78635350e-05 9.53213730e+00] [-6.00646028e-03 2.72937009e-04 9.99981924e-01 -1.07786450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50439141799998 meters 0.05609401049744209 Centerline is valid? [True, True] Translation: X:174.46, Y:9.53, Z:-1.08 [[ 9.98256987e-01 -5.88316122e-02 4.67222481e-03 1.74463515e+02] [ 5.88319365e-02 9.98267899e-01 6.81111307e-05 9.52669854e+00] [-4.66813913e-03 2.06883621e-04 9.99989083e-01 -1.07901740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56439141799999 meters 0.0697287530658885 Centerline is valid? [True, True] Translation: X:174.52, Y:9.49, Z:-1.08 [[ 9.98351499e-01 -5.72931883e-02 3.43162373e-03 1.74524677e+02] [ 5.72933543e-02 9.98357385e-01 4.99931305e-05 9.48607677e+00] [-3.42885116e-03 1.46698518e-04 9.99994111e-01 -1.08183907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624391418 meters 0.05592111570722262 Centerline is valid? [True, True] Translation: X:174.59, Y:9.53, Z:-1.08 [[ 9.98417763e-01 -5.61214584e-02 3.51459720e-03 1.74585676e+02] [ 5.61216254e-02 9.98423938e-01 5.11640851e-05 9.53159569e+00] [-3.51192939e-03 1.46161776e-04 9.99993822e-01 -1.08013802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684391418 meters 0.05607416233665542 Centerline is valid? [True, True] Translation: X:174.65, Y:9.54, Z:-1.08 [[ 9.98572640e-01 -5.33364225e-02 2.81213403e-03 1.74646303e+02] [ 5.33365186e-02 9.98576594e-01 4.08748580e-05 9.53589774e+00] [-2.81031134e-03 1.09172924e-04 9.99996045e-01 -1.08073533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters 0.05823204949618392 Centerline is valid? [True, True] Translation: X:174.71, Y:9.52, Z:-1.08 [[ 9.98754638e-01 -4.98523730e-02 1.97855531e-03 1.74706110e+02] [ 4.98524139e-02 9.98756595e-01 2.86623194e-05 9.52422753e+00] [-1.97752405e-03 7.00091337e-05 9.99998042e-01 -1.08190004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters 0.05771330094175176 Centerline is valid? [True, True] Translation: X:174.77, Y:9.53, Z:-1.08 [[ 9.99130725e-01 -4.15382682e-02 3.51667756e-03 1.74766936e+02] [ 4.15383457e-02 9.99136909e-01 5.10245409e-05 9.53398423e+00] [-3.51576182e-03 9.50967819e-05 9.99993815e-01 -1.08108700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters 0.05549169989565855 Centerline is valid? [True, True] Translation: X:174.83, Y:9.55, Z:-1.08 [[ 9.99476332e-01 -3.17939649e-02 6.01714990e-03 1.74827214e+02] [ 3.17940154e-02 9.99494439e-01 8.72781636e-05 9.54859470e+00] [-6.01688278e-03 1.04076898e-04 9.99981893e-01 -1.07883145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92439141799997 meters 0.05683558291378824 Centerline is valid? [True, True] Translation: X:174.89, Y:9.55, Z:-1.08 [[ 9.99642925e-01 -2.59579067e-02 6.34117284e-03 1.74886612e+02] [ 2.59578459e-02 9.99663034e-01 9.19105659e-05 9.55069212e+00] [-6.34142189e-03 7.27254406e-05 9.99979890e-01 -1.07912636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98439141799997 meters 0.05638032971921897 Centerline is valid? [True, True] Translation: X:174.95, Y:9.56, Z:-1.08 [[ 9.99777772e-01 -2.02740006e-02 5.77685131e-03 1.74948449e+02] [ 2.02738562e-02 9.99794461e-01 8.35632218e-05 9.55700096e+00] [-5.77735810e-03 3.35744011e-05 9.99983310e-01 -1.08127178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04439141799998 meters 0.05653058750752568 Centerline is valid? [True, True] Translation: X:175.01, Y:9.56, Z:-1.08 [[ 9.99811133e-01 -1.89830457e-02 4.16432512e-03 1.75010532e+02] [ 1.89829598e-02 9.99819806e-01 6.01617721e-05 9.55873160e+00] [-4.16471679e-03 1.89008068e-05 9.99991327e-01 -1.08296525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10439141799998 meters 0.05675008976139643 Centerline is valid? [True, True] Translation: X:175.07, Y:9.56, Z:-1.08 [[ 9.99791037e-01 -2.02453151e-02 2.82997608e-03 1.75072932e+02] [ 2.02452806e-02 9.99795042e-01 4.08606682e-05 9.55918922e+00] [-2.83022329e-03 1.64415299e-05 9.99995995e-01 -1.08430417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16439141799998 meters 0.05620580310031646 Centerline is valid? [True, True] Translation: X:175.14, Y:9.56, Z:-1.08 [[ 9.99730216e-01 -2.30625797e-02 2.75916259e-03 1.75135400e+02] [ 2.30625571e-02 9.99734023e-01 4.00260695e-05 9.55826722e+00] [-2.75935182e-03 2.36180737e-05 9.99996193e-01 -1.08423960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22439141799998 meters 0.05647863429677698 Centerline is valid? [True, True] Translation: X:175.20, Y:9.56, Z:-1.08 [[ 9.99692745e-01 -2.45135761e-02 3.67426135e-03 1.75196454e+02] [ 2.45135489e-02 9.99699496e-01 5.24328234e-05 9.55728867e+00] [-3.67444254e-03 3.76524723e-05 9.99993249e-01 -1.08389990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28439141799998 meters 0.05635798055332146 Centerline is valid? [True, True] Translation: X:175.26, Y:9.56, Z:-1.08 [[ 9.99634881e-01 -2.65081801e-02 5.23656982e-03 1.75257805e+02] [ 2.65081532e-02 9.99648594e-01 7.45626915e-05 9.55565958e+00] [-5.23670618e-03 6.42763276e-05 9.99986286e-01 -1.08347921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344391418 meters 0.05655376150400884 Centerline is valid? [True, True] Translation: X:175.32, Y:9.55, Z:-1.08 [[ 9.99534504e-01 -2.98639305e-02 6.23868399e-03 1.75319924e+02] [ 2.98639603e-02 9.99553969e-01 8.83998739e-05 9.55453757e+00] [-6.23854131e-03 9.79530866e-05 9.99980535e-01 -1.08315248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404391418 meters 0.05601210283366794 Centerline is valid? [True, True] Translation: X:175.38, Y:9.55, Z:-1.08 [[ 9.99408325e-01 -3.37984744e-02 6.37670690e-03 1.75381205e+02] [ 3.37985869e-02 9.99428660e-01 9.01546690e-05 9.55422399e+00] [-6.37611073e-03 1.25422355e-04 9.99979665e-01 -1.08430559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters 0.05605860119908941 Centerline is valid? [True, True] Translation: X:175.44, Y:9.55, Z:-1.09 [[ 9.99273369e-01 -3.77285840e-02 5.41176075e-03 1.75441661e+02] [ 3.77287230e-02 9.99288015e-01 7.64351703e-05 9.54948713e+00] [-5.41079145e-03 1.27799192e-04 9.99985353e-01 -1.08568187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters 0.056950998346041205 Centerline is valid? [True, True] Translation: X:175.50, Y:9.54, Z:-1.09 [[ 9.99164192e-01 -4.06730180e-02 4.07717406e-03 1.75501449e+02] [ 4.06731212e-02 9.99172505e-01 5.76146852e-05 9.54475656e+00] [-4.07614358e-03 1.08264864e-04 9.99991687e-01 -1.08750458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters 0.057172454981917614 Centerline is valid? [True, True] Translation: X:175.56, Y:9.54, Z:-1.09 [[ 9.99147410e-01 -4.11464626e-02 3.37957189e-03 1.75563058e+02] [ 4.11465363e-02 9.99153122e-01 4.77381652e-05 9.54319685e+00] [-3.37867406e-03 9.13602132e-05 9.99994288e-01 -1.08854441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters 0.05631007218488304 Centerline is valid? [True, True] Translation: X:175.62, Y:9.55, Z:-1.09 [[ 9.99333760e-01 -3.63506267e-02 3.26605606e-03 1.75623258e+02] [ 3.63506709e-02 9.99339095e-01 4.58317299e-05 9.55030108e+00] [-3.26556352e-03 7.29221342e-05 9.99994665e-01 -1.08924634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70439141799997 meters 0.05641939772023859 Centerline is valid? [True, True] Translation: X:175.68, Y:9.56, Z:-1.09 [[ 9.99529856e-01 -3.05025446e-02 3.10848434e-03 1.75683928e+02] [ 3.05025566e-02 9.99534688e-01 4.35785888e-05 9.55635417e+00] [-3.10836719e-03 5.12586190e-05 9.99995168e-01 -1.08875738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76439141799997 meters 0.056038157955694716 Centerline is valid? [True, True] Translation: X:175.74, Y:9.56, Z:-1.09 [[ 9.99789079e-01 -2.02210762e-02 3.59251508e-03 1.75743956e+02] [ 2.02210258e-02 9.99795533e-01 5.03417939e-05 9.56392207e+00] [-3.59279849e-03 2.23131644e-05 9.99993546e-01 -1.08805752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82439141799998 meters 0.05665740818317876 Centerline is valid? [True, True] Translation: X:175.81, Y:9.57, Z:-1.09 [[ 9.99896589e-01 -1.41761192e-02 2.41858960e-03 1.75805244e+02] [ 1.41760785e-02 9.99899514e-01 3.39681379e-05 9.56811067e+00] [-2.41882810e-03 3.21490861e-07 9.99997075e-01 -1.08678429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88439141799998 meters 0.05720003799068659 Centerline is valid? [True, True] Translation: X:175.87, Y:9.57, Z:-1.09 [[ 9.99948992e-01 -9.77212720e-03 2.55327919e-03 1.75867650e+02] [ 9.77206752e-03 9.99952252e-01 3.58502951e-05 9.56980338e+00] [-2.55350761e-03 -1.08976498e-05 9.99996740e-01 -1.08873118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94439141799998 meters 0.05672819472408521 Centerline is valid? [True, True] Translation: X:175.93, Y:9.57, Z:-1.09 [[ 9.99953282e-01 -9.37199081e-03 2.36649295e-03 1.75929400e+02] [ 9.37193868e-03 9.99956082e-01 3.31181849e-05 9.56978666e+00] [-2.36669940e-03 -1.09380109e-05 9.99997199e-01 -1.08983253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00439141799998 meters 0.05653315056435194 Centerline is valid? [True, True] Translation: X:175.99, Y:9.57, Z:-1.09 [[ 9.99933987e-01 -1.13726992e-02 1.63785565e-03 1.75991839e+02] [ 1.13726762e-02 9.99935329e-01 2.33083849e-05 9.56744052e+00] [-1.63801481e-03 -4.68004422e-06 9.99998658e-01 -1.09038130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06439141799999 meters 0.0570714538679637 Centerline is valid? [True, True] Translation: X:176.05, Y:9.56, Z:-1.09 [[ 9.99897414e-01 -1.41476758e-02 2.23692937e-03 1.76053688e+02] [ 1.41476412e-02 9.99899917e-01 3.12985058e-05 9.56393702e+00] [-2.23714829e-03 3.51979077e-07 9.99997498e-01 -1.09065118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124391418 meters 0.05672090627590912 Centerline is valid? [True, True] Translation: X:176.12, Y:9.56, Z:-1.09 [[ 9.99840276e-01 -1.75293553e-02 3.48482647e-03 1.76115819e+02] [ 1.75292946e-02 9.99846349e-01 4.79572458e-05 9.55902106e+00] [-3.48513168e-03 1.31369640e-05 9.99993927e-01 -1.09050699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184391418 meters 0.0562836184704434 Centerline is valid? [True, True] Translation: X:176.18, Y:9.56, Z:-1.09 [[ 9.99787630e-01 -2.01688147e-02 4.23248094e-03 1.76178063e+02] [ 2.01687519e-02 9.99796588e-01 5.75182113e-05 9.55628036e+00] [-4.23278008e-03 2.78578621e-05 9.99991041e-01 -1.09022935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters 0.0560952871641515 Centerline is valid? [True, True] Translation: X:176.24, Y:9.55, Z:-1.09 [[ 9.99686317e-01 -2.45684647e-02 4.86390633e-03 1.76240221e+02] [ 2.45684376e-02 9.99698148e-01 6.53256289e-05 9.55108534e+00] [-4.86404310e-03 5.41934417e-05 9.99988169e-01 -1.09132746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters 0.055994686036850594 Centerline is valid? [True, True] Translation: X:176.30, Y:9.54, Z:-1.09 [[ 9.99596343e-01 -2.80482761e-02 4.52153841e-03 1.76301443e+02] [ 2.80482884e-02 9.99606568e-01 6.07000680e-05 9.54244686e+00] [-4.52146203e-03 6.61458474e-05 9.99989776e-01 -1.09244383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters 0.05555859680781202 Centerline is valid? [True, True] Translation: X:176.36, Y:9.54, Z:-1.09 [[ 9.99402980e-01 -3.42246365e-02 4.72838777e-03 1.76362474e+02] [ 3.42247223e-02 9.99414161e-01 6.28028916e-05 9.54074695e+00] [-4.72776710e-03 9.90623611e-05 9.99988819e-01 -1.09262514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42439141799997 meters 0.05788876377153299 Centerline is valid? [True, True] Translation: X:176.42, Y:9.53, Z:-1.09 [[ 9.99271584e-01 -3.80239654e-02 3.23723162e-03 1.76423164e+02] [ 3.80240255e-02 9.99276824e-01 4.30076465e-05 9.52634538e+00] [-3.23652586e-03 8.01162585e-05 9.99994759e-01 -1.09453222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48439141799997 meters 0.056514484741919425 Centerline is valid? [True, True] Translation: X:176.48, Y:9.53, Z:-1.09 [[ 9.99307482e-01 -3.70402014e-02 3.54695599e-03 1.76484887e+02] [ 3.70402670e-02 9.99313773e-01 4.72211693e-05 9.53325156e+00] [-3.54627105e-03 8.41917290e-05 9.99993708e-01 -1.09432197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54439141799998 meters 0.056322279441778124 Centerline is valid? [True, True] Translation: X:176.55, Y:9.53, Z:-1.10 [[ 9.99416453e-01 -3.39307749e-02 3.93151690e-03 1.76545218e+02] [ 3.39308327e-02 9.99424182e-01 5.20310367e-05 9.53167996e+00] [-3.93101851e-03 8.13989677e-05 9.99992270e-01 -1.09521390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60439141799998 meters 0.05658712211114185 Centerline is valid? [True, True] Translation: X:176.61, Y:9.53, Z:-1.10 [[ 9.99591544e-01 -2.83456903e-02 3.64234894e-03 1.76606346e+02] [ 2.83457037e-02 9.99598179e-01 4.79559835e-05 9.53457817e+00] [-3.64224471e-03 5.53085480e-05 9.99993365e-01 -1.09557327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66439141799998 meters 0.056506703032955505 Centerline is valid? [True, True] Translation: X:176.67, Y:9.53, Z:-1.10 [[ 9.99677032e-01 -2.51606837e-02 3.57379897e-03 1.76666747e+02] [ 2.51606764e-02 9.99683419e-01 4.70087408e-05 9.53296714e+00] [-3.57385034e-03 4.29256410e-05 9.99993613e-01 -1.09615372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72439141799998 meters 0.056425440784242005 Centerline is valid? [True, True] Translation: X:176.73, Y:9.53, Z:-1.10 [[ 9.99746829e-01 -2.21777829e-02 3.79775483e-03 1.76729440e+02] [ 2.21777530e-02 9.99754042e-01 5.00133200e-05 9.53442734e+00] [-3.79792992e-03 3.42250102e-05 9.99992787e-01 -1.09530360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78439141799998 meters 0.05658155972839251 Centerline is valid? [True, True] Translation: X:176.79, Y:9.53, Z:-1.10 [[ 9.99759377e-01 -2.16035086e-02 3.80492264e-03 1.76790669e+02] [ 2.16034753e-02 9.99766616e-01 4.98609107e-05 9.53169671e+00] [-3.80511180e-03 3.23506394e-05 9.99992760e-01 -1.09618239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844391418 meters 0.05666005482086359 Centerline is valid? [True, True] Translation: X:176.85, Y:9.53, Z:-1.10 [[ 9.99709125e-01 -2.37692086e-02 4.08538880e-03 1.76852331e+02] [ 2.37691880e-02 9.99717472e-01 5.35948577e-05 9.53160318e+00] [-4.08550846e-03 4.35271060e-05 9.99991653e-01 -1.09646175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904391418 meters 0.056993492670910764 Centerline is valid? [True, True] Translation: X:176.91, Y:9.53, Z:-1.10 [[ 9.99557710e-01 -2.95704278e-02 3.15821964e-03 1.76913062e+02] [ 2.95704460e-02 9.99562698e-01 4.09471991e-05 9.52607046e+00] [-3.15804937e-03 5.24608748e-05 9.99995012e-01 -1.09807531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters 0.056925113519263756 Centerline is valid? [True, True] Translation: X:176.97, Y:9.52, Z:-1.10 [[ 9.99312173e-01 -3.70217887e-02 2.13710545e-03 1.76973973e+02] [ 3.70218142e-02 9.99314457e-01 2.76458265e-05 9.52346231e+00] [-2.13666387e-03 5.14927099e-05 9.99997716e-01 -1.09724314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters 0.05681587845788312 Centerline is valid? [True, True] Translation: X:177.03, Y:9.52, Z:-1.10 [[ 9.99112218e-01 -4.20618570e-02 2.36138539e-03 1.77033162e+02] [ 4.20619021e-02 9.99115006e-01 3.05592141e-05 9.52209792e+00] [-2.36058095e-03 6.87922769e-05 9.99997211e-01 -1.09647431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters 0.056866297722832956 Centerline is valid? [True, True] Translation: X:177.09, Y:9.52, Z:-1.10 [[ 9.98671919e-01 -5.14056214e-02 3.44379603e-03 1.77094134e+02] [ 5.14057730e-02 9.98677848e-01 4.45498790e-05 9.51704269e+00] [-3.44153293e-03 1.32540284e-04 9.99994069e-01 -1.09647052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters 0.05874905154146136 Centerline is valid? [True, True] Translation: X:177.15, Y:9.51, Z:-1.10 [[ 9.98143450e-01 -6.08109412e-02 3.41806663e-03 1.77153888e+02] [ 6.08111458e-02 9.98149289e-01 4.41422520e-05 9.50698564e+00] [-3.41442511e-03 1.63796248e-04 9.99994157e-01 -1.09716786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20439141799997 meters 0.05749675244389091 Centerline is valid? [True, True] Translation: X:177.21, Y:9.51, Z:-1.10 [[ 9.97815136e-01 -6.59929705e-02 3.14358439e-03 1.77214169e+02] [ 6.59931693e-02 9.97820074e-01 4.05881668e-05 9.51498294e+00] [-3.13941015e-03 1.66955610e-04 9.99995058e-01 -1.09801023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26439141799997 meters 0.05775739476147901 Centerline is valid? [True, True] Translation: X:177.27, Y:9.51, Z:-1.10 [[ 9.97470092e-01 -7.10247299e-02 2.98379680e-03 1.77274008e+02] [ 7.10249314e-02 9.97474540e-01 3.85249476e-05 9.51134169e+00] [-2.97899756e-03 1.73496480e-04 9.99995548e-01 -1.09845301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32439141799998 meters 0.05874467103600281 Centerline is valid? [True, True] Translation: X:177.33, Y:9.51, Z:-1.10 [[ 9.97263000e-01 -7.38642249e-02 3.25356872e-03 1.77334859e+02] [ 7.38644795e-02 9.97268287e-01 4.20255515e-05 9.51295039e+00] [-3.24778509e-03 1.98412632e-04 9.99994706e-01 -1.09864065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38439141799998 meters 0.05729854503964071 Centerline is valid? [True, True] Translation: X:177.40, Y:9.52, Z:-1.10 [[ 9.97261839e-01 -7.38774421e-02 3.30870487e-03 1.77397313e+02] [ 7.38777048e-02 9.97267308e-01 4.29347141e-05 9.51963998e+00] [-3.30283510e-03 2.01622369e-04 9.99994525e-01 -1.09909387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44439141799998 meters 0.05587759804993933 Centerline is valid? [True, True] Translation: X:177.46, Y:9.54, Z:-1.10 [[ 9.97496870e-01 -7.06584243e-02 2.71688521e-03 1.77458183e+02] [ 7.06585908e-02 9.97500558e-01 3.47732070e-05 9.53760030e+00] [-2.71255153e-03 1.57285115e-04 9.99996309e-01 -1.09967612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50439141799998 meters 0.05710519196771494 Centerline is valid? [True, True] Translation: X:177.52, Y:9.53, Z:-1.10 [[ 9.97935465e-01 -6.41914623e-02 2.06479917e-03 1.77518249e+02] [ 6.41915448e-02 9.97937596e-01 2.63733601e-05 9.53220612e+00] [-2.06223367e-03 1.06223737e-04 9.99997868e-01 -1.10148193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56439141799999 meters 0.05701311993854552 Centerline is valid? [True, True] Translation: X:177.58, Y:9.54, Z:-1.10 [[ 9.98743200e-01 -4.99786760e-02 3.76196837e-03 1.77577626e+02] [ 4.99788493e-02 9.98750275e-01 4.79968662e-05 9.53998969e+00] [-3.75966576e-03 1.40082306e-04 9.99992923e-01 -1.10198515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624391418 meters 0.056731372264180284 Centerline is valid? [True, True] Translation: X:177.64, Y:9.55, Z:-1.10 [[ 9.99415987e-01 -3.36968021e-02 5.67544524e-03 1.77637562e+02] [ 3.36969341e-02 9.99432094e-01 7.23876311e-05 9.55430024e+00] [-5.67466135e-03 1.18899748e-04 9.99983892e-01 -1.10136868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684391418 meters 0.0562153972905283 Centerline is valid? [True, True] Translation: X:177.70, Y:9.56, Z:-1.10 [[ 9.99713466e-01 -2.30152142e-02 6.57917157e-03 1.77696641e+02] [ 2.30151604e-02 9.99735113e-01 8.39003752e-05 9.56398099e+00] [-6.57935982e-03 6.75443540e-05 9.99978353e-01 -1.10101719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters 0.05633703322194446 Centerline is valid? [True, True] Translation: X:177.76, Y:9.58, Z:-1.10 [[ 9.99925408e-01 -9.90808708e-03 7.14196306e-03 1.77758196e+02] [ 9.90768916e-03 9.99950914e-01 9.10952650e-05 9.57631224e+00] [-7.14251506e-03 -2.03281201e-05 9.99974492e-01 -1.10244228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters 0.05634222757123834 Centerline is valid? [True, True] Translation: X:177.82, Y:9.58, Z:-1.10 [[ 9.99983989e-01 -1.60372192e-03 5.42680671e-03 1.77818237e+02] [ 1.60337071e-03 9.99998712e-01 6.90675584e-05 9.58442095e+00] [-5.42691049e-03 -6.03652696e-05 9.99985272e-01 -1.10313991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters 0.05654494328301383 Centerline is valid? [True, True] Translation: X:177.88, Y:9.59, Z:-1.10 [[ 9.99982460e-01 3.24211191e-04 5.91390732e-03 1.77880347e+02] [-3.24661695e-04 9.99999944e-01 7.52171690e-05 9.58524059e+00] [-5.91388260e-03 -7.71358688e-05 9.99982510e-01 -1.10345282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92439141799997 meters 0.05689251326273512 Centerline is valid? [True, True] Translation: X:177.94, Y:9.59, Z:-1.10 [[ 9.99980476e-01 -6.99591909e-04 6.20957169e-03 1.77942984e+02] [ 6.99116229e-04 9.99999753e-01 7.87747093e-05 9.58761112e+00] [-6.20962527e-03 -7.44319589e-05 9.99980717e-01 -1.10387834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98439141799997 meters 0.056297778594971794 Centerline is valid? [True, True] Translation: X:178.00, Y:9.59, Z:-1.10 [[ 9.99960410e-01 -5.81566374e-03 6.73466090e-03 1.78003218e+02] [ 5.81522240e-03 9.99983088e-01 8.51121265e-05 9.58639901e+00] [-6.73504199e-03 -4.59452060e-05 9.99977318e-01 -1.10339751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04439141799998 meters 0.05604896218015195 Centerline is valid? [True, True] Translation: X:178.07, Y:9.58, Z:-1.10 [[ 9.99854640e-01 -1.49182780e-02 8.25488913e-03 1.78065489e+02] [ 1.49179277e-02 9.99888716e-01 1.04010226e-04 9.58072821e+00] [-8.25552215e-03 1.91507326e-05 9.99965922e-01 -1.10394013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10439141799998 meters 0.056245718000600166 Centerline is valid? [True, True] Translation: X:178.13, Y:9.58, Z:-1.10 [[ 9.99723411e-01 -2.20997271e-02 8.04382380e-03 1.78127047e+02] [ 2.20996328e-02 9.99755768e-01 1.00617507e-04 9.57556546e+00] [-8.04408286e-03 7.71758748e-05 9.99967643e-01 -1.10347315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16439141799998 meters 0.057075841041616296 Centerline is valid? [True, True] Translation: X:178.19, Y:9.57, Z:-1.10 [[ 9.99376069e-01 -3.44841598e-02 7.63646184e-03 1.78187993e+02] [ 3.44844378e-02 9.99405230e-01 9.53078534e-05 9.56684138e+00] [-7.63520651e-03 1.68090705e-04 9.99970837e-01 -1.10491356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22439141799998 meters 0.05626428105163468 Centerline is valid? [True, True] Translation: X:178.25, Y:9.56, Z:-1.11 [[ 9.99065936e-01 -4.25592784e-02 7.48084483e-03 1.78248136e+02] [ 4.25597721e-02 9.99093918e-01 9.32635338e-05 9.55924643e+00] [-7.47803580e-03 2.25206631e-04 9.99972014e-01 -1.10573343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28439141799998 meters 0.060890684965598706 Centerline is valid? [True, True] Translation: X:178.31, Y:9.54, Z:-1.11 [[ 9.98637194e-01 -5.16843814e-02 7.24421362e-03 1.78307549e+02] [ 5.16850843e-02 9.98663429e-01 9.02616348e-05 9.53991941e+00] [-7.23919633e-03 2.84279166e-04 9.99973756e-01 -1.10622205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344391418 meters 0.055415358331480646 Centerline is valid? [True, True] Translation: X:178.37, Y:9.56, Z:-1.11 [[ 9.98306792e-01 -5.74526142e-02 9.09647222e-03 1.78367485e+02] [ 5.74539627e-02 9.98348150e-01 1.13223181e-04 9.55720463e+00] [-9.08795118e-03 4.09596905e-04 9.99958620e-01 -1.10761811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404391418 meters 0.05710113247723264 Centerline is valid? [True, True] Translation: X:178.43, Y:9.55, Z:-1.11 [[ 9.98170969e-01 -5.98447222e-02 8.56302690e-03 1.78426914e+02] [ 5.98460054e-02 9.98207616e-01 1.06535466e-04 9.55024187e+00] [-8.55405425e-03 4.06122345e-04 9.99963331e-01 -1.10832109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters 0.05664941232565004 Centerline is valid? [True, True] Translation: X:178.49, Y:9.55, Z:-1.11 [[ 9.97973311e-01 -6.32258697e-02 7.19450578e-03 1.78486828e+02] [ 6.32268639e-02 9.97999176e-01 8.93925048e-05 9.55046500e+00] [-7.18576276e-03 3.65674704e-04 9.99974115e-01 -1.11021115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters 0.05527909532807042 Centerline is valid? [True, True] Translation: X:178.55, Y:9.56, Z:-1.11 [[ 9.97738254e-01 -6.68445356e-02 7.08408906e-03 1.78548128e+02] [ 6.68455921e-02 9.97763328e-01 8.77950387e-05 9.56003500e+00] [-7.07411290e-03 3.85943659e-04 9.99974904e-01 -1.11131851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters 0.05519680533406772 Centerline is valid? [True, True] Translation: X:178.61, Y:9.56, Z:-1.11 [[ 9.97583434e-01 -6.91978594e-02 6.24085094e-03 1.78608379e+02] [ 6.91987257e-02 9.97602892e-01 7.72710641e-05 9.56076662e+00] [-6.23123794e-03 3.54774599e-04 9.99980523e-01 -1.11274820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters 0.055084608784864604 Centerline is valid? [True, True] Translation: X:178.67, Y:9.57, Z:-1.11 [[ 9.97650887e-01 -6.82375698e-02 6.02848758e-03 1.78669600e+02] [ 6.82383607e-02 9.97669044e-01 7.46298739e-05 9.56533520e+00] [-6.01952800e-03 3.36919550e-04 9.99981826e-01 -1.11344409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70439141799997 meters 0.054412358181803455 Centerline is valid? [True, True] Translation: X:178.73, Y:9.57, Z:-1.11 [[ 9.97841484e-01 -6.52965076e-02 6.98127360e-03 1.78729798e+02] [ 6.52974973e-02 9.97865837e-01 8.63140964e-05 9.56909658e+00] [-6.97201043e-03 3.69731908e-04 9.99975627e-01 -1.11403835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76439141799997 meters 0.05483563438121049 Centerline is valid? [True, True] Translation: X:178.79, Y:9.57, Z:-1.11 [[ 9.98312380e-01 -5.73848326e-02 8.90912411e-03 1.78790067e+02] [ 5.73861300e-02 9.98352052e-01 1.10152199e-04 9.57316187e+00] [-8.90076340e-03 4.01293850e-04 9.99960307e-01 -1.11315986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82439141799998 meters 0.0558394920611089 Centerline is valid? [True, True] Translation: X:178.85, Y:9.58, Z:-1.11 [[ 9.98846146e-01 -4.68495720e-02 1.05590738e-02 1.78849241e+02] [ 4.68508060e-02 9.98901890e-01 1.30591724e-04 9.58049308e+00] [-1.05535970e-02 3.64260080e-04 9.99944243e-01 -1.11196064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88439141799998 meters 0.05640134724977708 Centerline is valid? [True, True] Translation: X:178.91, Y:9.58, Z:-1.11 [[ 9.99165020e-01 -3.94495577e-02 1.06298780e-02 1.78909039e+02] [ 3.94503895e-02 9.99221522e-01 1.31498160e-04 9.58325148e+00] [-1.06267904e-02 2.87964466e-04 9.99943493e-01 -1.11168592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94439141799998 meters 0.05541757524977303 Centerline is valid? [True, True] Translation: X:178.97, Y:9.59, Z:-1.11 [[ 9.99522224e-01 -2.92043828e-02 1.01207016e-02 1.78970071e+02] [ 2.92046122e-02 9.99573447e-01 1.25151039e-04 9.59410906e+00] [-1.01200395e-02 1.70479920e-04 9.99948777e-01 -1.11373845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00439141799998 meters 0.05523077402499076 Centerline is valid? [True, True] Translation: X:179.03, Y:9.60, Z:-1.11 [[ 9.99710267e-01 -2.24040993e-02 8.79993499e-03 1.79030202e+02] [ 2.24040097e-02 9.99748993e-01 1.08771840e-04 9.59841508e+00] [-8.80016307e-03 8.84135030e-05 9.99961274e-01 -1.11405046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06439141799999 meters 0.054971520237875555 Centerline is valid? [True, True] Translation: X:179.09, Y:9.61, Z:-1.12 [[ 9.99880324e-01 -1.28624144e-02 8.59630079e-03 1.79091319e+02] [ 1.28619772e-02 9.99917276e-01 1.06145410e-04 9.60730200e+00] [-8.59695495e-03 4.43271807e-06 9.99963045e-01 -1.11534689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124391418 meters 0.055255847063040056 Centerline is valid? [True, True] Translation: X:179.15, Y:9.61, Z:-1.12 [[ 9.99949072e-01 -4.84814500e-03 8.85145973e-03 1.79153183e+02] [ 4.84736979e-03 9.99988246e-01 1.09031511e-04 9.61455538e+00] [-8.85188428e-03 -6.61196594e-05 9.99960819e-01 -1.11630434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184391418 meters 0.05559562522534822 Centerline is valid? [True, True] Translation: X:179.21, Y:9.62, Z:-1.12 [[ 9.99954027e-01 -2.03275186e-03 9.37080342e-03 1.79214721e+02] [ 2.03176258e-03 9.99997929e-01 1.15088689e-04 9.61688900e+00] [-9.37101796e-03 -9.60441499e-05 9.99956086e-01 -1.11565541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters 0.055177503583828225 Centerline is valid? [True, True] Translation: X:179.28, Y:9.61, Z:-1.12 [[ 9.99940409e-01 -3.55147695e-03 1.03230107e-02 1.79277245e+02] [ 3.55036394e-03 9.99993689e-01 1.26142842e-04 9.61420303e+00] [-1.03233936e-02 -8.94848799e-05 9.99946708e-01 -1.11566714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters 0.05582259180100783 Centerline is valid? [True, True] Translation: X:179.34, Y:9.61, Z:-1.12 [[ 9.99916735e-01 -7.35437462e-03 1.06036017e-02 1.79339170e+02] [ 7.35342660e-03 9.99972955e-01 1.28390744e-04 9.61065346e+00] [-1.06042591e-02 -5.04072468e-05 9.99943772e-01 -1.11579917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters 0.055401196591240286 Centerline is valid? [True, True] Translation: X:179.40, Y:9.60, Z:-1.12 [[ 9.99814282e-01 -1.65023744e-02 9.95352866e-03 1.79401525e+02] [ 1.65019999e-02 9.99863826e-01 1.19758789e-04 9.60143464e+00] [-9.95414954e-03 4.45165808e-05 9.99950455e-01 -1.11629549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42439141799997 meters 0.05526171201327036 Centerline is valid? [True, True] Translation: X:179.46, Y:9.59, Z:-1.12 [[ 9.99661863e-01 -2.43823060e-02 9.03675313e-03 1.79461753e+02] [ 2.43823211e-02 9.99702701e-01 1.08515825e-04 9.59225877e+00] [-9.03671238e-03 1.11857885e-04 9.99959162e-01 -1.11718438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48439141799997 meters 0.05650952483434778 Centerline is valid? [True, True] Translation: X:179.52, Y:9.58, Z:-1.12 [[ 9.99336751e-01 -3.53445331e-02 8.76481331e-03 1.79522277e+02] [ 3.53449687e-02 9.99375166e-01 1.05247981e-04 9.58011339e+00] [-8.76305669e-03 2.04613876e-04 9.99961583e-01 -1.11802262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54439141799998 meters 0.05781291535830207 Centerline is valid? [True, True] Translation: X:179.58, Y:9.57, Z:-1.12 [[ 9.99022536e-01 -4.34116806e-02 8.33060074e-03 1.79583396e+02] [ 4.34123543e-02 9.99057234e-01 1.00026381e-04 9.56961864e+00] [-8.32708925e-03 2.61722382e-04 9.99965295e-01 -1.11819550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60439141799998 meters 0.05674334518567604 Centerline is valid? [True, True] Translation: X:179.64, Y:9.57, Z:-1.12 [[ 9.98790526e-01 -4.84913432e-02 8.12860276e-03 1.79644086e+02] [ 4.84921528e-02 9.98823559e-01 9.75834549e-05 9.56846794e+00] [-8.12377189e-03 2.96708017e-04 9.99966958e-01 -1.11890812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66439141799998 meters 0.059979993149904445 Centerline is valid? [True, True] Translation: X:179.70, Y:9.56, Z:-1.12 [[ 9.98684332e-01 -5.07189649e-02 7.56248891e-03 1.79704191e+02] [ 5.07197297e-02 9.98712922e-01 9.07476805e-05 9.55909895e+00] [-7.55735803e-03 2.92939107e-04 9.99971400e-01 -1.11963910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72439141799998 meters 0.05457930084044878 Centerline is valid? [True, True] Translation: X:179.76, Y:9.58, Z:-1.12 [[ 9.98508012e-01 -5.42572261e-02 6.15662997e-03 1.79764852e+02] [ 5.42578003e-02 9.98526958e-01 7.38404349e-05 9.57510799e+00] [-6.15156738e-03 2.60314934e-04 9.99981045e-01 -1.12201840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78439141799998 meters 0.05560297976960357 Centerline is valid? [True, True] Translation: X:179.82, Y:9.57, Z:-1.12 [[ 9.98349702e-01 -5.73291246e-02 3.35324425e-03 1.79824012e+02] [ 5.73293120e-02 9.98355322e-01 4.02819271e-05 9.56869937e+00] [-3.35003857e-03 1.52023736e-04 9.99994377e-01 -1.12331946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844391418 meters 0.05593149909810802 Centerline is valid? [True, True] Translation: X:179.88, Y:9.57, Z:-1.12 [[ 9.98246890e-01 -5.91032690e-02 3.15426469e-03 1.79884919e+02] [ 5.91034441e-02 9.98251863e-01 3.77653742e-05 9.56845488e+00] [-3.15098266e-03 1.48728740e-04 9.99995025e-01 -1.12306499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904391418 meters 0.055882602704563265 Centerline is valid? [True, True] Translation: X:179.95, Y:9.57, Z:-1.12 [[ 9.98294587e-01 -5.82593896e-02 3.70950799e-03 1.79945495e+02] [ 5.82596257e-02 9.98301465e-01 4.44638935e-05 9.57386404e+00] [-3.70579770e-03 1.71726483e-04 9.99993119e-01 -1.12182023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters 0.055520502670200506 Centerline is valid? [True, True] Translation: X:180.01, Y:9.58, Z:-1.12 [[ 9.98561931e-01 -5.34417399e-02 4.24858346e-03 1.80006703e+02] [ 5.34420074e-02 9.98570954e-01 5.06133110e-05 9.57654326e+00] [-4.24521690e-03 1.76512303e-04 9.99990973e-01 -1.12189204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters 0.0554375583065391 Centerline is valid? [True, True] Translation: X:180.07, Y:9.58, Z:-1.12 [[ 9.98837822e-01 -4.80445120e-02 3.83799747e-03 1.80067681e+02] [ 4.80446905e-02 9.98845186e-01 4.57366414e-05 9.58357443e+00] [-3.83576269e-03 1.38711913e-04 9.99992634e-01 -1.12253022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters 0.055615072934412965 Centerline is valid? [True, True] Translation: X:180.13, Y:9.59, Z:-1.12 [[ 9.99305591e-01 -3.70471686e-02 3.98036894e-03 1.80127305e+02] [ 3.70472737e-02 9.99313513e-01 4.73474648e-05 9.59176443e+00] [-3.97939056e-03 1.00147231e-04 9.99992077e-01 -1.12193691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters 0.055986489197730124 Centerline is valid? [True, True] Translation: X:180.19, Y:9.60, Z:-1.12 [[ 9.99684004e-01 -2.47974976e-02 4.12012030e-03 1.80186982e+02] [ 2.47975063e-02 9.99692493e-01 4.89842670e-05 9.59509187e+00] [-4.12006802e-03 5.31999209e-05 9.99991511e-01 -1.12285539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20439141799997 meters 0.054829033132771106 Centerline is valid? [True, True] Translation: X:180.25, Y:9.61, Z:-1.12 [[ 9.99879007e-01 -1.45449292e-02 5.51515444e-03 1.80247494e+02] [ 1.45447890e-02 9.99894217e-01 6.55466463e-05 9.61285739e+00] [-5.51552440e-03 1.46780418e-05 9.99984789e-01 -1.12141056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26439141799997 meters 0.05522615566462 Centerline is valid? [True, True] Translation: X:180.31, Y:9.62, Z:-1.12 [[ 9.99936073e-01 -1.01876839e-02 4.90517761e-03 1.80309039e+02] [ 1.01875208e-02 9.99948104e-01 5.82355175e-05 9.61758404e+00] [-4.90551634e-03 -8.26019553e-06 9.99987968e-01 -1.12210567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32439141799998 meters 0.05517784399820334 Centerline is valid? [True, True] Translation: X:180.37, Y:9.62, Z:-1.12 [[ 9.99952741e-01 -8.70747226e-03 4.32376995e-03 1.80371102e+02] [ 8.70733198e-03 9.99962089e-01 5.12685345e-05 9.62091088e+00] [-4.32405245e-03 -1.36176113e-05 9.99990651e-01 -1.12280085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38439141799998 meters 0.05503638159518597 Centerline is valid? [True, True] Translation: X:180.43, Y:9.62, Z:-1.12 [[ 9.99906610e-01 -1.30684639e-02 3.99822512e-03 1.80433766e+02] [ 1.30683787e-02 9.99914604e-01 4.74460879e-05 9.61962020e+00] [-3.99850374e-03 4.80866295e-06 9.99992006e-01 -1.12339229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44439141799998 meters 0.0551848964950184 Centerline is valid? [True, True] Translation: X:180.50, Y:9.62, Z:-1.12 [[ 9.99756046e-01 -2.16270810e-02 4.48518782e-03 1.80495724e+02] [ 2.16270631e-02 9.99766106e-01 5.25014982e-05 9.61645165e+00] [-4.48527422e-03 4.45127497e-05 9.99989940e-01 -1.12391781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50439141799998 meters 0.05454628375128304 Centerline is valid? [True, True] Translation: X:180.56, Y:9.61, Z:-1.12 [[ 9.99588189e-01 -2.82525037e-02 5.02470573e-03 1.80555416e+02] [ 2.82525685e-02 9.99600815e-01 5.80935205e-05 9.61309303e+00] [-5.02434123e-03 8.38912461e-05 9.99987374e-01 -1.12410164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56439141799999 meters 0.05463822094220377 Centerline is valid? [True, True] Translation: X:180.62, Y:9.61, Z:-1.12 [[ 9.99278199e-01 -3.74742653e-02 6.22581676e-03 1.80615346e+02] [ 3.74745437e-02 9.99297580e-01 7.19758339e-05 9.60548650e+00] [-6.22414087e-03 1.61385760e-04 9.99980617e-01 -1.12380574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624391418 meters 0.05479272187184366 Centerline is valid? [True, True] Translation: X:180.68, Y:9.60, Z:-1.12 [[ 9.98944517e-01 -4.54659493e-02 6.53449308e-03 1.80676400e+02] [ 4.54664276e-02 9.98965864e-01 7.54098656e-05 9.60358805e+00] [-6.53116411e-03 2.21769785e-04 9.99978647e-01 -1.12415772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684391418 meters 0.05434199288760079 Centerline is valid? [True, True] Translation: X:180.74, Y:9.61, Z:-1.13 [[ 9.98730361e-01 -5.00425353e-02 5.78016558e-03 1.80737832e+02] [ 5.00429861e-02 9.98747063e-01 6.66950737e-05 9.60643393e+00] [-5.77626098e-03 2.22646351e-04 9.99983292e-01 -1.12582828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters 0.05571364729738786 Centerline is valid? [True, True] Translation: X:180.80, Y:9.60, Z:-1.13 [[ 9.98479037e-01 -5.49800365e-02 4.09982331e-03 1.80797917e+02] [ 5.49803051e-02 9.98487438e-01 4.72351879e-05 9.59928370e+00] [-4.09621906e-03 1.78246192e-04 9.99991595e-01 -1.12693933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters 0.05420838153609349 Centerline is valid? [True, True] Translation: X:180.86, Y:9.61, Z:-1.13 [[ 9.98415659e-01 -5.61640688e-02 3.43060116e-03 1.80859297e+02] [ 5.61642639e-02 9.98421541e-01 3.95217204e-05 9.60918865e+00] [-3.42740580e-03 1.53218084e-04 9.99994115e-01 -1.12779111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters 0.055077044411841546 Centerline is valid? [True, True] Translation: X:180.92, Y:9.61, Z:-1.13 [[ 9.98493909e-01 -5.47535443e-02 3.45871368e-03 1.80919508e+02] [ 5.47537341e-02 9.98499888e-01 3.98707500e-05 9.60789549e+00] [-3.45570829e-03 1.49566788e-04 9.99994018e-01 -1.12876464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92439141799997 meters 0.054514618923128436 Centerline is valid? [True, True] Translation: X:180.98, Y:9.62, Z:-1.13 [[ 9.98741578e-01 -5.00920460e-02 2.45905979e-03 1.80979661e+02] [ 5.00921282e-02 9.98744601e-01 2.81697079e-05 9.61732487e+00] [-2.45738377e-03 9.50452797e-05 9.99996976e-01 -1.12904953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98439141799997 meters 0.054071072876239926 Centerline is valid? [True, True] Translation: X:181.04, Y:9.62, Z:-1.13 [[ 9.99071666e-01 -4.30610014e-02 1.24715135e-03 1.81038881e+02] [ 4.30610171e-02 9.99072444e-01 1.42793772e-05 9.61914764e+00] [-1.24660943e-03 3.94374844e-05 9.99999222e-01 -1.12991640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04439141799998 meters 0.054263479620900244 Centerline is valid? [True, True] Translation: X:181.10, Y:9.62, Z:-1.13 [[ 9.99284929e-01 -3.77814863e-02 1.47965253e-03 1.81099364e+02] [ 3.77815027e-02 9.99286024e-01 1.69169902e-05 9.62284480e+00] [-1.47923524e-03 3.89986026e-05 9.99998905e-01 -1.13077445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10439141799998 meters 0.055112372045520656 Centerline is valid? [True, True] Translation: X:181.16, Y:9.63, Z:-1.13 [[ 9.99559323e-01 -2.96582397e-02 1.24441067e-03 1.81159205e+02] [ 2.96582449e-02 9.99560097e-01 1.42486602e-05 9.62758485e+00] [-1.24428584e-03 2.26646554e-05 9.99999226e-01 -1.13080278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16439141799998 meters 0.05467360879456362 Centerline is valid? [True, True] Translation: X:181.22, Y:9.63, Z:-1.13 [[ 9.99639091e-01 -2.68377278e-02 1.19363484e-03 1.81220785e+02] [ 2.68377305e-02 9.99639803e-01 1.37227950e-05 9.63133654e+00] [-1.19357319e-03 1.83166079e-05 9.99999288e-01 -1.13103218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22439141799998 meters 0.05500407936929842 Centerline is valid? [True, True] Translation: X:181.28, Y:9.64, Z:-1.13 [[ 9.99826866e-01 -1.85829047e-02 9.55529148e-04 1.81280344e+02] [ 1.85829028e-02 9.99827323e-01 1.09062503e-05 9.63654068e+00] [-9.55566820e-04 6.85214316e-06 9.99999543e-01 -1.13233543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28439141799998 meters 0.055245672475364965 Centerline is valid? [True, True] Translation: X:181.34, Y:9.65, Z:-1.13 [[ 9.99949609e-01 -9.92503029e-03 1.50761665e-03 1.81341839e+02] [ 9.92501542e-03 9.99950746e-01 1.73489713e-05 9.64517481e+00] [-1.50771459e-03 -2.38497849e-06 9.99998863e-01 -1.13247090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344391418 meters 0.05558653190311756 Centerline is valid? [True, True] Translation: X:181.40, Y:9.65, Z:-1.13 [[ 9.99985589e-01 -5.14463860e-03 1.53457053e-03 1.81404178e+02] [ 5.14461756e-03 9.99986766e-01 1.76574674e-05 9.64816467e+00] [-1.53464107e-03 -9.76243437e-06 9.99998822e-01 -1.13034875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404391418 meters 0.05557387356254881 Centerline is valid? [True, True] Translation: X:181.46, Y:9.65, Z:-1.13 [[ 9.99997859e-01 -1.02815865e-03 1.79576898e-03 1.81464923e+02] [ 1.02812329e-03 9.99999471e-01 2.06148893e-05 9.65093444e+00] [-1.79578923e-03 -1.87685732e-05 9.99998387e-01 -1.12956670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters 0.055948948644601135 Centerline is valid? [True, True] Translation: X:181.53, Y:9.65, Z:-1.13 [[ 9.99998015e-01 3.27949446e-04 1.96536891e-03 1.81526642e+02] [-3.27993855e-04 9.99999946e-01 2.22733072e-05 9.65204890e+00] [-1.96536150e-03 -2.29178919e-05 9.99998068e-01 -1.12979865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters 0.05585627304840877 Centerline is valid? [True, True] Translation: X:181.59, Y:9.65, Z:-1.13 [[ 9.99995842e-01 2.12837548e-03 1.94552143e-03 1.81587198e+02] [-2.12842218e-03 9.99997735e-01 2.19317733e-05 9.65096258e+00] [-1.94547034e-03 -2.60725731e-05 9.99998107e-01 -1.12955713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters 0.05592556606424717 Centerline is valid? [True, True] Translation: X:181.65, Y:9.65, Z:-1.13 [[ 9.99996135e-01 1.85400039e-03 2.07185264e-03 1.81647883e+02] [-1.85405271e-03 9.99998281e-01 2.33348397e-05 9.64966006e+00] [-2.07180581e-03 -2.71760735e-05 9.99997853e-01 -1.12994163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64439141799997 meters 0.05586586017113445 Centerline is valid? [True, True] Translation: X:181.71, Y:9.64, Z:-1.13 [[ 9.99997570e-01 -9.07220374e-04 2.00917209e-03 1.81708936e+02] [ 9.07176768e-04 9.99999588e-01 2.26145897e-05 9.64348976e+00] [-2.00919177e-03 -2.07918605e-05 9.99997981e-01 -1.13022239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70439141799997 meters 0.05574090377761679 Centerline is valid? [True, True] Translation: X:181.77, Y:9.64, Z:-1.13 [[ 9.99984489e-01 -5.40555092e-03 1.34242421e-03 1.81770197e+02] [ 5.40553486e-03 9.99985390e-01 1.55960870e-05 9.63671273e+00] [-1.34248890e-03 -8.33932418e-06 9.99999099e-01 -1.12932826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76439141799997 meters 0.055571074516928144 Centerline is valid? [True, True] Translation: X:181.83, Y:9.63, Z:-1.13 [[ 9.99959096e-01 -8.97095438e-03 1.15244733e-03 1.81832056e+02] [ 8.97094538e-03 9.99959760e-01 1.29773912e-05 9.63357279e+00] [-1.15251737e-03 -2.63831827e-06 9.99999336e-01 -1.13049526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82439141799998 meters 0.055970211815715286 Centerline is valid? [True, True] Translation: X:181.89, Y:9.63, Z:-1.13 [[ 9.99915522e-01 -1.28329233e-02 2.06508899e-03 1.81893577e+02] [ 1.28329025e-02 9.99917655e-01 2.33235556e-05 9.62748619e+00] [-2.06521825e-03 3.17950021e-06 9.99997867e-01 -1.13045690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88439141799998 meters 0.05587946906131407 Centerline is valid? [True, True] Translation: X:181.95, Y:9.62, Z:-1.13 [[ 9.99906001e-01 -1.35749722e-02 1.92606333e-03 1.81954342e+02] [ 1.35749565e-02 9.99907856e-01 2.12405374e-05 9.62466621e+00] [-1.92617419e-03 4.90768505e-06 9.99998145e-01 -1.13102581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94439141799998 meters 0.056218009362872474 Centerline is valid? [True, True] Translation: X:182.02, Y:9.62, Z:-1.13 [[ 9.99924073e-01 -1.22085035e-02 1.67358967e-03 1.82016701e+02] [ 1.22084897e-02 9.99925473e-01 1.84687371e-05 9.62234088e+00] [-1.67369042e-03 1.96466743e-06 9.99998599e-01 -1.13115918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00439141799998 meters 0.05603155703689053 Centerline is valid? [True, True] Translation: X:182.08, Y:9.62, Z:-1.13 [[ 9.99960032e-01 -8.79153170e-03 1.62596731e-03 1.82079175e+02] [ 8.79151417e-03 9.99961354e-01 1.79295227e-05 9.62001644e+00] [-1.62606210e-03 -3.63409148e-06 9.99998678e-01 -1.13234096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06439141799999 meters 0.05665698856146413 Centerline is valid? [True, True] Translation: X:182.14, Y:9.62, Z:-1.13 [[ 9.99981527e-01 -5.93096183e-03 1.33027999e-03 1.82140947e+02] [ 5.93094756e-03 9.99982412e-01 1.46686153e-05 9.61900166e+00] [-1.33034359e-03 -6.77852343e-06 9.99999115e-01 -1.13318817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124391418 meters 0.056717046397669106 Centerline is valid? [True, True] Translation: X:182.20, Y:9.62, Z:-1.13 [[ 9.99995693e-01 -2.50737546e-03 1.52561548e-03 1.82201639e+02] [ 2.50735277e-03 9.99996856e-01 1.67853558e-05 9.61825514e+00] [-1.52565277e-03 -1.29600273e-05 9.99998836e-01 -1.13309909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184391418 meters 0.057081996964114465 Centerline is valid? [True, True] Translation: X:182.26, Y:9.61, Z:-1.13 [[ 9.99997548e-01 -3.25793121e-04 2.19053680e-03 1.82262886e+02] [ 3.25741998e-04 9.99999947e-01 2.36951718e-05 9.61376647e+00] [-2.19054440e-03 -2.29815638e-05 9.99997600e-01 -1.13296015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters 0.057718671969932994 Centerline is valid? [True, True] Translation: X:182.32, Y:9.61, Z:-1.13 [[ 9.99997177e-01 1.45738578e-03 1.87676383e-03 1.82324688e+02] [-1.45742640e-03 9.99998938e-01 2.02776742e-05 9.61051803e+00] [-1.87673228e-03 -2.30128621e-05 9.99998239e-01 -1.13314375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters 0.05725577721344002 Centerline is valid? [True, True] Translation: X:182.38, Y:9.61, Z:-1.13 [[ 9.99994764e-01 2.89163555e-03 1.45255955e-03 1.82384713e+02] [-2.89166123e-03 9.99995819e-01 1.55845270e-05 9.60858550e+00] [-1.45250841e-03 -1.97847555e-05 9.99998945e-01 -1.13322753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters 0.057176425533760074 Centerline is valid? [True, True] Translation: X:182.44, Y:9.60, Z:-1.13 [[ 9.99993476e-01 3.45257470e-03 1.06205147e-03 1.82444573e+02] [-3.45258871e-03 9.99994040e-01 1.13552839e-05 9.60060615e+00] [-1.06200594e-03 -1.50220368e-05 9.99999436e-01 -1.13207862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42439141799997 meters 0.0577002157786889 Centerline is valid? [True, True] Translation: X:182.50, Y:9.60, Z:-1.13 [[ 9.99997690e-01 1.56220156e-03 1.47634757e-03 1.82503826e+02] [-1.56222661e-03 9.99998780e-01 1.58167810e-05 9.59840538e+00] [-1.47632106e-03 -1.81231339e-05 9.99998910e-01 -1.13433355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48439141799997 meters 0.057859680953906895 Centerline is valid? [True, True] Translation: X:182.56, Y:9.59, Z:-1.13 [[ 9.99995591e-01 -2.38368905e-03 1.77080743e-03 1.82564445e+02] [ 2.38365903e-03 9.99997159e-01 1.90640999e-05 9.58626671e+00] [-1.77084784e-03 -1.48430147e-05 9.99998432e-01 -1.13252714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54439141799998 meters 0.05790148364862187 Centerline is valid? [True, True] Translation: X:182.63, Y:9.58, Z:-1.14 [[ 9.99990180e-01 -4.09185402e-03 1.70189459e-03 1.82625476e+02] [ 4.09182800e-03 9.99991628e-01 1.87658691e-05 9.58436917e+00] [-1.70195713e-03 -1.18018249e-05 9.99998552e-01 -1.13500131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60439141799998 meters 0.0580913928051344 Centerline is valid? [True, True] Translation: X:182.69, Y:9.57, Z:-1.13 [[ 9.99968471e-01 -6.80379244e-03 4.09460918e-03 1.82687989e+02] [ 6.80367045e-03 9.99976854e-01 4.37212152e-05 9.57457274e+00] [-4.09481188e-03 -1.58614652e-05 9.99991616e-01 -1.13322149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66439141799998 meters 0.05749520939478745 Centerline is valid? [True, True] Translation: X:182.75, Y:9.57, Z:-1.13 [[ 9.99921967e-01 -1.12468495e-02 5.43766068e-03 1.82749007e+02] [ 1.12467049e-02 9.99936752e-01 5.71626272e-05 9.56647419e+00] [-5.43795966e-03 3.99759861e-06 9.99985214e-01 -1.13317758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72439141799998 meters 0.05759492456518505 Centerline is valid? [True, True] Translation: X:182.81, Y:9.56, Z:-1.13 [[ 9.99809319e-01 -1.84049354e-02 6.52571281e-03 1.82811041e+02] [ 1.84048851e-02 9.99830613e-01 6.77782469e-05 9.55650315e+00] [-6.52585489e-03 5.23396713e-05 9.99978705e-01 -1.13476315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78439141799998 meters 0.057361455379896245 Centerline is valid? [True, True] Translation: X:182.87, Y:9.55, Z:-1.14 [[ 9.99713504e-01 -2.31857379e-02 5.94401426e-03 1.82873308e+02] [ 2.31857819e-02 9.99731172e-01 6.15111925e-05 9.55054134e+00] [-5.94384253e-03 7.63230488e-05 9.99982332e-01 -1.13646399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844391418 meters 0.05738436783210776 Centerline is valid? [True, True] Translation: X:182.93, Y:9.54, Z:-1.14 [[ 9.99516982e-01 -3.05325144e-02 5.79373921e-03 1.82933763e+02] [ 3.05326808e-02 9.99533767e-01 5.97614026e-05 9.54443813e+00] [-5.79286264e-03 1.17165853e-04 9.99983214e-01 -1.13826978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904391418 meters 0.057417458427422845 Centerline is valid? [True, True] Translation: X:182.99, Y:9.54, Z:-1.14 [[ 9.99391441e-01 -3.44952795e-02 5.17911740e-03 1.82994685e+02] [ 3.44954657e-02 9.99404853e-01 5.34067434e-05 9.54062467e+00] [-5.17787734e-03 1.25281824e-04 9.99986587e-01 -1.13949317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters 0.057386295243870705 Centerline is valid? [True, True] Translation: X:183.06, Y:9.54, Z:-1.14 [[ 9.99241770e-01 -3.86242856e-02 4.90397392e-03 1.83055912e+02] [ 3.86245024e-02 9.99253794e-01 5.05291483e-05 9.53873336e+00] [-4.90226619e-03 1.38922717e-04 9.99987974e-01 -1.14016088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters 0.05862320569869244 Centerline is valid? [True, True] Translation: X:183.12, Y:9.53, Z:-1.14 [[ 9.99218855e-01 -3.91381808e-02 5.46659314e-03 1.83117233e+02] [ 3.91384580e-02 9.99233795e-01 5.62929754e-05 9.53164002e+00] [-5.46460781e-03 1.57705024e-04 9.99985056e-01 -1.14051322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters 0.057602691229588186 Centerline is valid? [True, True] Translation: X:183.18, Y:9.54, Z:-1.14 [[ 9.99226806e-01 -3.88126050e-02 6.27475532e-03 1.83179703e+02] [ 3.88129650e-02 9.99246491e-01 6.44353279e-05 9.53637224e+00] [-6.27252814e-03 1.79156352e-04 9.99980311e-01 -1.14088447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14439141799997 meters 0.05788490000926489 Centerline is valid? [True, True] Translation: X:183.24, Y:9.54, Z:-1.14 [[ 9.99301906e-01 -3.64085934e-02 8.37349795e-03 1.83240797e+02] [ 3.64091527e-02 9.99336963e-01 8.56846442e-05 9.54094367e+00] [-8.37106567e-03 2.19247138e-04 9.99964938e-01 -1.14026644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20439141799997 meters 0.05740876230931274 Centerline is valid? [True, True] Translation: X:183.30, Y:9.54, Z:-1.14 [[ 9.99345087e-01 -3.50094687e-02 9.15067814e-03 1.83303259e+02] [ 3.50100800e-02 9.99386955e-01 9.34220969e-05 9.54266533e+00] [-9.14833902e-03 2.27005061e-04 9.99958127e-01 -1.14021181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26439141799997 meters 0.057346218121790485 Centerline is valid? [True, True] Translation: X:183.36, Y:9.54, Z:-1.14 [[ 9.99373439e-01 -3.42123713e-02 9.06879836e-03 1.83364706e+02] [ 3.42129415e-02 9.99414562e-01 9.23090461e-05 9.54477391e+00] [-9.06664725e-03 2.18019059e-04 9.99958873e-01 -1.14069010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32439141799998 meters 0.0563351865769305 Centerline is valid? [True, True] Translation: X:183.43, Y:9.56, Z:-1.14 [[ 9.99390854e-01 -3.38013645e-02 8.68261096e-03 1.83425670e+02] [ 3.38018752e-02 9.99428549e-01 8.79555545e-05 9.55797031e+00] [-8.68062229e-03 2.05586556e-04 9.99962302e-01 -1.14353120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38439141799998 meters 0.057814796404599175 Centerline is valid? [True, True] Translation: X:183.49, Y:9.55, Z:-1.14 [[ 9.99442550e-01 -3.21406574e-02 9.03149336e-03 1.83487728e+02] [ 3.21411492e-02 9.99483336e-01 9.07184678e-05 9.54689330e+00] [-9.02974286e-03 1.99614679e-04 9.99959211e-01 -1.14272450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44439141799998 meters 0.057566319923828636 Centerline is valid? [True, True] Translation: X:183.55, Y:9.55, Z:-1.14 [[ 9.99490816e-01 -3.05302345e-02 9.27432930e-03 1.83550142e+02] [ 3.05306871e-02 9.99533826e-01 9.28046028e-05 9.55299046e+00] [-9.27283919e-03 1.90394298e-04 9.99956988e-01 -1.14389390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50439141799998 meters 0.05766722090676181 Centerline is valid? [True, True] Translation: X:183.61, Y:9.56, Z:-1.14 [[ 9.99623656e-01 -2.58898441e-02 9.06989279e-03 1.83609760e+02] [ 2.58900878e-02 9.99664791e-01 9.05627350e-05 9.55783860e+00] [-9.06919714e-03 1.44291668e-04 9.99958864e-01 -1.14441881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56439141799999 meters 0.05726462606520781 Centerline is valid? [True, True] Translation: X:183.67, Y:9.56, Z:-1.14 [[ 9.99696860e-01 -2.28041267e-02 9.28226097e-03 1.83671252e+02] [ 2.28042495e-02 9.99739945e-01 9.26288015e-05 9.56134919e+00] [-9.28195939e-03 1.19074273e-04 9.99956915e-01 -1.14397471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624391418 meters 0.05775353711411098 Centerline is valid? [True, True] Translation: X:183.73, Y:9.56, Z:-1.14 [[ 9.99731658e-01 -2.07607713e-02 1.02762578e-02 1.83732748e+02] [ 2.07608164e-02 9.99784466e-01 1.02295123e-04 9.56217467e+00] [-1.02761667e-02 1.11075828e-04 9.99947193e-01 -1.14411258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684391418 meters 0.05771615364726466 Centerline is valid? [True, True] Translation: X:183.79, Y:9.56, Z:-1.14 [[ 9.99696121e-01 -2.24612652e-02 1.01566376e-02 1.83793565e+02] [ 2.24614017e-02 9.99747706e-01 1.00651191e-04 9.56112667e+00] [-1.01563359e-02 1.27511712e-04 9.99948415e-01 -1.14475147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters 0.05708925792853915 Centerline is valid? [True, True] Translation: X:183.86, Y:9.56, Z:-1.15 [[ 9.99609801e-01 -2.61916572e-02 9.70783787e-03 1.83855129e+02] [ 2.61919649e-02 9.99656927e-01 9.54612960e-05 9.56136755e+00] [-9.70700766e-03 1.58843302e-04 9.99952873e-01 -1.14634798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters 0.058706825080391566 Centerline is valid? [True, True] Translation: X:183.92, Y:9.55, Z:-1.15 [[ 9.99373838e-01 -3.42551218e-02 8.86106878e-03 1.83915093e+02] [ 3.42557003e-02 9.99413098e-01 8.65231460e-05 9.55107994e+00] [-8.85883206e-03 2.17073148e-04 9.99960736e-01 -1.14610277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters 0.05726696374656767 Centerline is valid? [True, True] Translation: X:183.98, Y:9.55, Z:-1.15 [[ 9.99030809e-01 -4.32348886e-02 8.25751829e-03 1.83975694e+02] [ 4.32356980e-02 9.99064897e-01 8.05560635e-05 9.55086914e+00] [-8.25327950e-03 2.76541578e-04 9.99965903e-01 -1.14739481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92439141799997 meters 0.057191418946409125 Centerline is valid? [True, True] Translation: X:184.04, Y:9.55, Z:-1.15 [[ 9.98811945e-01 -4.79727520e-02 8.56233292e-03 1.84036965e+02] [ 4.79737965e-02 9.98848591e-01 8.34799550e-05 9.55280164e+00] [-8.55647893e-03 3.27386841e-04 9.99963339e-01 -1.14811945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98439141799997 meters 0.058981926827124886 Centerline is valid? [True, True] Translation: X:184.10, Y:9.55, Z:-1.15 [[ 9.98698898e-01 -5.03384914e-02 8.15772115e-03 1.84097432e+02] [ 5.03395191e-02 9.98732160e-01 7.94249355e-05 9.54567534e+00] [-8.15137660e-03 3.31334165e-04 9.99966722e-01 -1.14763537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04439141799998 meters 0.05728824609580833 Centerline is valid? [True, True] Translation: X:184.16, Y:9.56, Z:-1.15 [[ 9.98756496e-01 -4.90654258e-02 8.83429349e-03 1.84158469e+02] [ 4.90665828e-02 9.98795506e-01 8.58533758e-05 9.55506713e+00] [-8.82786507e-03 3.47721976e-04 9.99960973e-01 -1.14923569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10439141799998 meters 0.058716433505589485 Centerline is valid? [True, True] Translation: X:184.22, Y:9.55, Z:-1.15 [[ 9.99003786e-01 -4.38526773e-02 8.26909273e-03 1.84217756e+02] [ 4.38535134e-02 9.99037969e-01 8.02697064e-05 9.55406152e+00] [-8.26465765e-03 2.82439028e-04 9.99965807e-01 -1.14874234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16439141799998 meters 0.05751890273817911 Centerline is valid? [True, True] Translation: X:184.28, Y:9.56, Z:-1.15 [[ 9.99215312e-01 -3.86417392e-02 8.69343970e-03 1.84278712e+02] [ 3.86424666e-02 9.99253097e-01 8.43490329e-05 9.56403626e+00] [-8.69020594e-03 2.51653108e-04 9.99962208e-01 -1.14934321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22439141799998 meters 0.05709303740618074 Centerline is valid? [True, True] Translation: X:184.34, Y:9.56, Z:-1.15 [[ 9.99415461e-01 -3.34320837e-02 7.14371607e-03 1.84338339e+02] [ 3.34324424e-02 9.99440977e-01 6.92391261e-05 9.56435361e+00] [-7.14203738e-03 1.69633223e-04 9.99974481e-01 -1.15054206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28439141799998 meters 0.05618574169988087 Centerline is valid? [True, True] Translation: X:184.40, Y:9.57, Z:-1.15 [[ 9.99558432e-01 -2.90847952e-02 6.08404489e-03 1.84399015e+02] [ 2.90849746e-02 9.99576941e-01 5.90082424e-05 9.57238034e+00] [-6.08318722e-03 1.17972105e-04 9.99981490e-01 -1.15181475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344391418 meters 0.05719039177502646 Centerline is valid? [True, True] Translation: X:184.46, Y:9.58, Z:-1.15 [[ 9.99657087e-01 -2.57438608e-02 4.79187488e-03 1.84459714e+02] [ 2.57439339e-02 9.99668569e-01 4.64449384e-05 9.57609807e+00] [-4.79148238e-03 7.69326982e-05 9.99988518e-01 -1.15216693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404391418 meters 0.056933246812645756 Centerline is valid? [True, True] Translation: X:184.52, Y:9.58, Z:-1.15 [[ 9.99775352e-01 -2.09003336e-02 3.52435229e-03 1.84519771e+02] [ 2.09003432e-02 9.99781563e-01 3.41047759e-05 9.57947572e+00] [-3.52429524e-03 3.95630579e-05 9.99993789e-01 -1.15293436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters 0.05695108233842145 Centerline is valid? [True, True] Translation: X:184.58, Y:9.58, Z:-1.15 [[ 9.99818811e-01 -1.85838434e-02 4.12133977e-03 1.84581540e+02] [ 1.85838368e-02 9.99827305e-01 3.99028245e-05 9.58459675e+00] [-4.12136958e-03 3.66947109e-05 9.99991506e-01 -1.15305756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters 0.0567437284543379 Centerline is valid? [True, True] Translation: X:184.64, Y:9.59, Z:-1.15 [[ 9.99847789e-01 -1.67231388e-02 4.97343037e-03 1.84642820e+02] [ 1.67231075e-02 9.99860158e-01 4.78762187e-05 9.58784484e+00] [-4.97353552e-03 3.53022794e-05 9.99987631e-01 -1.15220511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters 0.05733373872927878 Centerline is valid? [True, True] Translation: X:184.71, Y:9.59, Z:-1.15 [[ 9.99850648e-01 -1.63049682e-02 5.72973217e-03 1.84705024e+02] [ 1.63049208e-02 9.99867064e-01 5.49927445e-05 9.59052792e+00] [-5.72986714e-03 3.84382980e-05 9.99983583e-01 -1.15155209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64439141799997 meters 0.05723845193100307 Centerline is valid? [True, True] Translation: X:184.77, Y:9.59, Z:-1.15 [[ 9.99843017e-01 -1.67346168e-02 5.82187286e-03 1.84766401e+02] [ 1.67345763e-02 9.99859966e-01 5.56755475e-05 9.58981895e+00] [-5.82198930e-03 4.17597683e-05 9.99983051e-01 -1.15198676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70439141799997 meters 0.05695447423305021 Centerline is valid? [True, True] Translation: X:184.83, Y:9.59, Z:-1.15 [[ 9.99827777e-01 -1.77845837e-02 5.30338217e-03 1.84828596e+02] [ 1.77845653e-02 9.99841841e-01 5.06263929e-05 9.58892210e+00] [-5.30344376e-03 4.37006726e-05 9.99985936e-01 -1.15225054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76439141799997 meters 0.05729149893182817 Centerline is valid? [True, True] Translation: X:184.89, Y:9.59, Z:-1.15 [[ 9.99816249e-01 -1.84886526e-02 5.06337852e-03 1.84890348e+02] [ 1.84886464e-02 9.99829069e-01 4.80276668e-05 9.58802092e+00] [-5.06340100e-03 4.55961734e-05 9.99987180e-01 -1.15218703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82439141799998 meters 0.05736980025004227 Centerline is valid? [True, True] Translation: X:184.95, Y:9.58, Z:-1.15 [[ 9.99797237e-01 -1.97798295e-02 3.77411865e-03 1.84951473e+02] [ 1.97798358e-02 9.99804359e-01 3.56630492e-05 9.58373921e+00] [-3.77408569e-03 3.89956289e-05 9.99992877e-01 -1.15336604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88439141799998 meters 0.05663405244156152 Centerline is valid? [True, True] Translation: X:185.01, Y:9.58, Z:-1.15 [[ 9.99762287e-01 -2.16599649e-02 2.49291618e-03 1.85013385e+02] [ 2.16599734e-02 9.99765395e-01 2.35747257e-05 9.58202234e+00] [-2.49284196e-03 3.04273767e-05 9.99996892e-01 -1.15418693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94439141799998 meters 0.057294880630227814 Centerline is valid? [True, True] Translation: X:185.08, Y:9.58, Z:-1.15 [[ 9.99751306e-01 -2.21770584e-02 2.34621501e-03 1.85075728e+02] [ 2.21770675e-02 9.99754058e-01 2.21189212e-05 9.58091443e+00] [-2.34612851e-03 2.99187485e-05 9.99997247e-01 -1.15412411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00439141799998 meters 0.05755275026659127 Centerline is valid? [True, True] Translation: X:185.14, Y:9.58, Z:-1.15 [[ 9.99745846e-01 -2.24201768e-02 2.36206744e-03 1.85136572e+02] [ 2.24201867e-02 9.99748636e-01 2.22981278e-05 9.57836253e+00] [-2.36197363e-03 3.06655324e-05 9.99997210e-01 -1.15437353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06439141799999 meters 0.05725270376641374 Centerline is valid? [True, True] Translation: X:185.20, Y:9.58, Z:-1.15 [[ 9.99722706e-01 -2.34087214e-02 2.55800294e-03 1.85199197e+02] [ 2.34087370e-02 9.99725978e-01 2.38406272e-05 9.57758503e+00] [-2.55786007e-03 3.60456018e-05 9.99996728e-01 -1.15353036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124391418 meters 0.0573846840835671 Centerline is valid? [True, True] Translation: X:185.26, Y:9.57, Z:-1.15 [[ 9.99627964e-01 -2.70423695e-02 3.55596078e-03 1.85261274e+02] [ 2.70424234e-02 9.99634286e-01 3.29372087e-05 9.57300058e+00] [-3.55555102e-03 6.32368423e-05 9.99993677e-01 -1.15307068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184391418 meters 0.057665461747144535 Centerline is valid? [True, True] Translation: X:185.32, Y:9.57, Z:-1.15 [[ 9.99506368e-01 -3.11901545e-02 3.76766944e-03 1.85322275e+02] [ 3.11902451e-02 9.99513465e-01 3.47035648e-05 9.57074842e+00] [-3.76691874e-03 8.28280993e-05 9.99992902e-01 -1.15275861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters 0.05774219397108343 Centerline is valid? [True, True] Translation: X:185.38, Y:9.56, Z:-1.15 [[ 9.99227795e-01 -3.91108344e-02 3.76254173e-03 1.85381589e+02] [ 3.91109809e-02 9.99234872e-01 3.46507525e-05 9.56287943e+00] [-3.76101812e-03 1.12532703e-04 9.99992921e-01 -1.15391975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters 0.05850007658961782 Centerline is valid? [True, True] Translation: X:185.44, Y:9.56, Z:-1.16 [[ 9.99012907e-01 -4.43081544e-02 3.16227444e-03 1.85441378e+02] [ 4.43082842e-02 9.99017905e-01 2.90102958e-05 9.55681567e+00] [-3.16045418e-03 1.11133295e-04 9.99995000e-01 -1.15522043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters 0.05793859458900119 Centerline is valid? [True, True] Translation: X:185.50, Y:9.56, Z:-1.16 [[ 9.98717919e-01 -5.05717711e-02 2.23936983e-03 1.85502421e+02] [ 5.05718519e-02 9.98720425e-01 2.05960963e-05 9.55999219e+00] [-2.23754597e-03 9.26793891e-05 9.99997492e-01 -1.15608176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42439141799997 meters 0.05800834570483564 Centerline is valid? [True, True] Translation: X:185.56, Y:9.56, Z:-1.16 [[ 9.98493439e-01 -5.48422099e-02 1.78453416e-03 1.85562173e+02] [ 5.48422681e-02 9.98495030e-01 1.63540042e-05 9.55923941e+00] [-1.78274538e-03 8.15385346e-05 9.99998408e-01 -1.15658730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48439141799997 meters 0.05685082831080028 Centerline is valid? [True, True] Translation: X:185.62, Y:9.57, Z:-1.16 [[ 9.98418672e-01 -5.61700917e-02 2.25311609e-03 1.85623119e+02] [ 5.61701876e-02 9.98421209e-01 2.07023853e-05 9.56547021e+00] [-2.25072174e-03 1.05888306e-04 9.99997462e-01 -1.15603556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54439141799998 meters 0.05744638417520323 Centerline is valid? [True, True] Translation: X:185.69, Y:9.57, Z:-1.16 [[ 9.98429859e-01 -5.59486743e-02 2.75015281e-03 1.85685347e+02] [ 5.59488162e-02 9.98433638e-01 2.53437675e-05 9.56709946e+00] [-2.74726303e-03 1.28563820e-04 9.99996218e-01 -1.15642545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60439141799998 meters 0.057423868634812816 Centerline is valid? [True, True] Translation: X:185.75, Y:9.57, Z:-1.16 [[ 9.98460832e-01 -5.53794365e-02 3.01398322e-03 1.85747482e+02] [ 5.53796049e-02 9.98465372e-01 2.76017208e-05 9.57169155e+00] [-3.01088644e-03 1.39353963e-04 9.99995458e-01 -1.15686642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66439141799998 meters 0.05735145639962691 Centerline is valid? [True, True] Translation: X:185.81, Y:9.57, Z:-1.16 [[ 9.98475938e-01 -5.51542089e-02 1.95299244e-03 1.85808499e+02] [ 5.51542789e-02 9.98477844e-01 1.80192653e-05 9.57134500e+00] [-1.95101352e-03 8.97240870e-05 9.99998093e-01 -1.15794761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72439141799998 meters 0.05694452166863977 Centerline is valid? [True, True] Translation: X:185.87, Y:9.58, Z:-1.16 [[ 9.98487274e-01 -5.49111742e-02 2.81544422e-03 1.85870501e+02] [ 5.49113200e-02 9.98491235e-01 2.55198941e-05 9.58251872e+00] [-2.81259770e-03 1.29118469e-04 9.99996036e-01 -1.15771083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78439141799998 meters 0.05721504568092936 Centerline is valid? [True, True] Translation: X:185.93, Y:9.58, Z:-1.16 [[ 9.98553835e-01 -5.36680029e-02 3.15983734e-03 1.85931324e+02] [ 5.36681809e-02 9.98558824e-01 2.84847983e-05 9.58135010e+00] [-3.15681218e-03 1.41139117e-04 9.99995007e-01 -1.15782014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844391418 meters 0.06158905966696932 Centerline is valid? [True, True] Translation: X:185.99, Y:9.57, Z:-1.16 [[ 9.98800333e-01 -4.88444132e-02 3.48121607e-03 1.85991409e+02] [ 4.88446006e-02 9.98806390e-01 3.12114212e-05 9.57107290e+00] [-3.47858536e-03 1.38864631e-04 9.99993940e-01 -1.15987972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904391418 meters 0.056634452868796835 Centerline is valid? [True, True] Translation: X:186.05, Y:9.60, Z:-1.16 [[ 9.99027268e-01 -4.38733611e-02 4.43236835e-03 1.86051555e+02] [ 4.38736160e-02 9.99037089e-01 3.97527541e-05 9.59576969e+00] [-4.42984445e-03 1.54749941e-04 9.99990176e-01 -1.15924423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters 0.05690394827319786 Centerline is valid? [True, True] Translation: X:186.11, Y:9.60, Z:-1.16 [[ 9.99413774e-01 -3.39585058e-02 4.35074986e-03 1.86111172e+02] [ 3.39586577e-02 9.99423238e-01 3.89792535e-05 9.60098427e+00] [-4.34956419e-03 1.08789222e-04 9.99990535e-01 -1.15952399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters 0.05628147402104149 Centerline is valid? [True, True] Translation: X:186.17, Y:9.61, Z:-1.16 [[ 9.99669410e-01 -2.53532567e-02 4.27589693e-03 1.86172156e+02] [ 2.53533245e-02 9.99678552e-01 3.83479257e-05 9.61138231e+00] [-4.27549470e-03 7.00729543e-05 9.99990858e-01 -1.15943635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters 0.056253922747327684 Centerline is valid? [True, True] Translation: X:186.23, Y:9.62, Z:-1.16 [[ 9.99750099e-01 -2.19646197e-02 4.15873662e-03 1.86233912e+02] [ 2.19646541e-02 9.99758747e-01 3.74076410e-05 9.61517930e+00] [-4.15855496e-03 5.39469187e-05 9.99991352e-01 -1.15942308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14439141799997 meters 0.05651194135870032 Centerline is valid? [True, True] Translation: X:186.29, Y:9.62, Z:-1.16 [[ 9.99768985e-01 -2.12311120e-02 3.34913142e-03 1.86294641e+02] [ 2.12311301e-02 9.99774594e-01 3.01462294e-05 9.61717138e+00] [-3.34901654e-03 4.09665799e-05 9.99994391e-01 -1.15975657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20439141799997 meters 0.05650954241020698 Centerline is valid? [True, True] Translation: X:186.36, Y:9.61, Z:-1.16 [[ 9.99724483e-01 -2.33223066e-02 2.65092746e-03 1.86355418e+02] [ 2.33223260e-02 9.99727997e-01 2.35968150e-05 9.61340767e+00] [-2.65075674e-03 3.82354808e-05 9.99996486e-01 -1.16098172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26439141799997 meters 0.05689268610639443 Centerline is valid? [True, True] Translation: X:186.42, Y:9.61, Z:-1.16 [[ 9.99588946e-01 -2.86156046e-02 1.75674282e-03 1.86416500e+02] [ 2.86156213e-02 9.99590489e-01 1.56386208e-05 9.60888634e+00] [-1.75647093e-03 3.46380949e-05 9.99998457e-01 -1.16185175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32439141799998 meters 0.05691716226151659 Centerline is valid? [True, True] Translation: X:186.48, Y:9.61, Z:-1.16 [[ 9.99390642e-01 -3.48657507e-02 1.65049408e-03 1.86477433e+02] [ 3.48657740e-02 9.99392004e-01 1.46479422e-05 9.60880824e+00] [-1.65000130e-03 4.29067373e-05 9.99998638e-01 -1.16079907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38439141799998 meters 0.05659314471559289 Centerline is valid? [True, True] Translation: X:186.54, Y:9.61, Z:-1.16 [[ 9.99262989e-01 -3.83662878e-02 1.22789736e-03 1.86538624e+02] [ 3.83663033e-02 9.99263742e-01 1.09328381e-05 9.60896581e+00] [-1.22741276e-03 3.61851018e-05 9.99999246e-01 -1.16084142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44439141799998 meters 0.05625583700317554 Centerline is valid? [True, True] Translation: X:186.60, Y:9.61, Z:-1.16 [[ 9.99106443e-01 -4.22589894e-02 7.02050624e-04 1.86599197e+02] [ 4.22589954e-02 9.99106690e-01 6.20260806e-06 9.61010491e+00] [-7.01685591e-04 2.34708884e-05 9.99999754e-01 -1.16096953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50439141799998 meters 0.05690157565237267 Centerline is valid? [True, True] Translation: X:186.66, Y:9.61, Z:-1.16 [[ 9.99032956e-01 -4.39619874e-02 7.04508211e-04 1.86660523e+02] [ 4.39619938e-02 9.99033204e-01 6.30274637e-06 9.60888529e+00] [-7.04104177e-04 2.46749343e-05 9.99999752e-01 -1.16172609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56439141799999 meters 0.059504560653006834 Centerline is valid? [True, True] Translation: X:186.72, Y:9.60, Z:-1.16 [[ 9.99015059e-01 -4.43697204e-02 4.88916442e-04 1.86721459e+02] [ 4.43697235e-02 9.99015179e-01 4.44152626e-06 9.59730446e+00] [-4.88632016e-04 1.72559357e-05 9.99999880e-01 -1.16406471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624391418 meters 0.05716898233994228 Centerline is valid? [True, True] Translation: X:186.78, Y:9.61, Z:-1.16 [[ 9.99147821e-01 -4.12738962e-02 3.12934580e-04 1.86782176e+02] [ 4.12738974e-02 9.99147870e-01 2.83812799e-06 9.61096105e+00] [-3.12785059e-04 1.00803203e-05 9.99999951e-01 -1.16261420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684391418 meters 0.055991904489129815 Centerline is valid? [True, True] Translation: X:186.84, Y:9.62, Z:-1.16 [[ 9.99314210e-01 -3.70211738e-02 7.36523913e-04 1.86843016e+02] [ 3.70211790e-02 9.99314481e-01 6.46090300e-06 9.61784131e+00] [-7.36258202e-04 2.08105115e-05 9.99999729e-01 -1.16175570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters 0.05660868975070563 Centerline is valid? [True, True] Translation: X:186.90, Y:9.62, Z:-1.16 [[ 9.99573003e-01 -2.91328474e-02 2.25577154e-03 1.86902613e+02] [ 2.91328769e-02 9.99575547e-01 1.97996764e-05 9.62080379e+00] [-2.25539090e-03 4.59258926e-05 9.99997456e-01 -1.16146633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters 0.056788892036330495 Centerline is valid? [True, True] Translation: X:186.96, Y:9.63, Z:-1.16 [[ 9.99703955e-01 -2.42822288e-02 1.54127169e-03 1.86963556e+02] [ 2.42822368e-02 9.99705143e-01 1.35179588e-05 9.62552855e+00] [-1.54114548e-03 2.39115673e-05 9.99998812e-01 -1.16215336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters 0.05663253734516245 Centerline is valid? [True, True] Translation: X:187.03, Y:9.63, Z:-1.16 [[ 9.99805593e-01 -1.97009703e-02 -8.04441787e-04 1.87025451e+02] [ 1.97009712e-02 9.99805917e-01 -6.82008581e-06 9.62980773e+00] [ 8.04420020e-04 -9.02952451e-06 9.99999676e-01 -1.16435891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92439141799997 meters 0.05659013869189599 Centerline is valid? [True, True] Translation: X:187.09, Y:9.63, Z:-1.17 [[ 9.99815581e-01 -1.91463292e-02 -1.49083383e-03 1.87087925e+02] [ 1.91463315e-02 9.99816692e-01 -1.27518275e-05 9.63089042e+00] [ 1.49080470e-03 -1.57945229e-05 9.99998889e-01 -1.16520007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98439141799997 meters 0.057228942877241507 Centerline is valid? [True, True] Translation: X:187.15, Y:9.63, Z:-1.17 [[ 9.99793585e-01 -2.02283542e-02 -1.89790620e-03 1.87149225e+02] [ 2.02283597e-02 9.99795386e-01 -1.62919866e-05 9.62847419e+00] [ 1.89784742e-03 -2.21029056e-05 9.99998199e-01 -1.16769336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04439141799998 meters 0.056750117297161014 Centerline is valid? [True, True] Translation: X:187.21, Y:9.63, Z:-1.16 [[ 9.99744628e-01 -2.25966159e-02 2.69188412e-04 1.87211076e+02] [ 2.25966161e-02 9.99744664e-01 2.51890300e-06 9.63245518e+00] [-2.69176597e-04 3.56448745e-06 9.99999964e-01 -1.16357819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10439141799998 meters 0.0562770110433801 Centerline is valid? [True, True] Translation: X:187.27, Y:9.63, Z:-1.16 [[ 9.99700725e-01 -2.44222547e-02 1.41907638e-03 1.87272802e+02] [ 2.44222617e-02 9.99701732e-01 1.23962619e-05 9.63193493e+00] [-1.41895586e-03 2.22645026e-05 9.99998993e-01 -1.16315322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16439141799998 meters 0.05645197458730216 Centerline is valid? [True, True] Translation: X:187.33, Y:9.63, Z:-1.16 [[ 9.99571477e-01 -2.91659336e-02 2.49228783e-03 1.87334246e+02] [ 2.91659706e-02 9.99574582e-01 2.14861428e-05 9.63147611e+00] [-2.49185423e-03 5.12130581e-05 9.99996894e-01 -1.16314538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22439141799998 meters 0.0572351210630252 Centerline is valid? [True, True] Translation: X:187.39, Y:9.62, Z:-1.16 [[ 9.99348801e-01 -3.59666918e-02 2.89330851e-03 1.87394489e+02] [ 3.59667705e-02 9.99352986e-01 2.48420380e-05 9.62349792e+00] [-2.89232998e-03 7.92371021e-05 9.99995814e-01 -1.16371451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28439141799998 meters 0.05740908137025607 Centerline is valid? [True, True] Translation: X:187.46, Y:9.62, Z:-1.16 [[ 9.99149282e-01 -4.11446028e-02 2.79879200e-03 1.87455127e+02] [ 4.11446966e-02 9.99153198e-01 2.40642245e-05 9.62413802e+00] [-2.79741209e-03 9.11116950e-05 9.99996083e-01 -1.16376255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344391418 meters 0.05685293512136223 Centerline is valid? [True, True] Translation: X:187.52, Y:9.63, Z:-1.16 [[ 9.98816085e-01 -4.85995359e-02 2.12432572e-03 1.87515442e+02] [ 4.85996070e-02 9.98818341e-01 1.81910728e-05 9.62601813e+00] [-2.12269957e-03 8.50718587e-05 9.99997743e-01 -1.16423826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404391418 meters 0.05729788280645933 Centerline is valid? [True, True] Translation: X:187.58, Y:9.63, Z:-1.16 [[ 9.98632045e-01 -5.22717643e-02 1.30403303e-03 1.87576486e+02] [ 5.22717941e-02 9.98632895e-01 1.12149094e-05 9.62818679e+00] [-1.30283651e-03 5.69645785e-05 9.99999150e-01 -1.16468434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters 0.05710738550109947 Centerline is valid? [True, True] Translation: X:187.64, Y:9.63, Z:-1.17 [[ 9.98471803e-01 -5.52363077e-02 1.73437429e-03 1.87637103e+02] [ 5.52363651e-02 9.98473306e-01 1.48610891e-05 9.62738165e+00] [-1.73254730e-03 8.09621529e-05 9.99998496e-01 -1.16587267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters 0.057042614484343675 Centerline is valid? [True, True] Translation: X:187.70, Y:9.63, Z:-1.17 [[ 9.98438148e-01 -5.58349825e-02 1.92834500e-03 1.87698922e+02] [ 5.58350538e-02 9.98440006e-01 1.68808676e-05 9.63162050e+00] [-1.92627934e-03 9.08147447e-05 9.99998141e-01 -1.16563115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters 0.057351247789435886 Centerline is valid? [True, True] Translation: X:187.76, Y:9.63, Z:-1.17 [[ 9.98405683e-01 -5.63881377e-02 2.54382369e-03 1.87759981e+02] [ 5.63882647e-02 9.98408916e-01 2.18028913e-05 9.63143598e+00] [-2.54100568e-03 1.21673673e-04 9.99996764e-01 -1.16538302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64439141799997 meters 0.059936282829782986 Centerline is valid? [True, True] Translation: X:187.82, Y:9.63, Z:-1.17 [[ 9.98313640e-01 -5.80141031e-02 2.05923336e-03 1.87820382e+02] [ 5.80141907e-02 9.98315758e-01 1.72200649e-05 9.62705705e+00] [-2.05676412e-03 1.02273731e-04 9.99997880e-01 -1.16671484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70439141799997 meters 0.05720164962521166 Centerline is valid? [True, True] Translation: X:187.88, Y:9.64, Z:-1.17 [[ 9.98210457e-01 -5.97660935e-02 1.97444674e-03 1.87881330e+02] [ 5.97661775e-02 9.98212404e-01 1.64548494e-05 9.63644025e+00] [-1.97190067e-03 1.01579732e-04 9.99998051e-01 -1.16708918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76439141799997 meters 0.0564767989511857 Centerline is valid? [True, True] Translation: X:187.94, Y:9.64, Z:-1.17 [[ 9.98203344e-01 -5.99004114e-02 1.42307268e-03 1.87943249e+02] [ 5.99004546e-02 9.98204356e-01 1.23267692e-05 9.64228625e+00] [-1.42125573e-03 7.29380782e-05 9.99998987e-01 -1.16766949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82439141799998 meters 0.0581222189286597 Centerline is valid? [True, True] Translation: X:188.00, Y:9.64, Z:-1.17 [[ 9.98444556e-01 -5.57317697e-02 1.56168580e-03 1.88002704e+02] [ 5.57318177e-02 9.98445774e-01 1.28040193e-05 9.64222642e+00] [-1.55997218e-03 7.42514851e-05 9.99998780e-01 -1.16903478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88439141799998 meters 0.058645078405462354 Centerline is valid? [True, True] Translation: X:188.06, Y:9.65, Z:-1.17 [[ 9.98967131e-01 -4.53827510e-02 2.25319697e-03 1.88062198e+02] [ 4.53828247e-02 9.98969669e-01 1.84677374e-05 9.64963349e+00] [-2.25171355e-03 8.38077805e-05 9.99997461e-01 -1.16906387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94439141799998 meters 0.057019104186669056 Centerline is valid? [True, True] Translation: X:188.12, Y:9.66, Z:-1.17 [[ 9.99458814e-01 -3.27776286e-02 2.77616688e-03 1.88121987e+02] [ 3.27776917e-02 9.99462667e-01 2.27906158e-05 9.66128047e+00] [-2.77542217e-03 6.82180602e-05 9.99996146e-01 -1.16879536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00439141799998 meters 0.05598942662582858 Centerline is valid? [True, True] Translation: X:188.18, Y:9.67, Z:-1.17 [[ 9.99745843e-01 -2.24020243e-02 2.52946437e-03 1.88182478e+02] [ 2.24020434e-02 9.99749043e-01 2.07727451e-05 9.67153022e+00] [-2.52929494e-03 3.58977051e-05 9.99996801e-01 -1.16964012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06439141799999 meters 0.0556993551255181 Centerline is valid? [True, True] Translation: X:188.24, Y:9.68, Z:-1.17 [[ 9.99830826e-01 -1.83305640e-02 1.51963883e-03 1.88243856e+02] [ 1.83305661e-02 9.99831981e-01 1.25238637e-05 9.67756937e+00] [-1.51961307e-03 1.53340951e-05 9.99998845e-01 -1.17102586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124391418 meters 0.05663914855118016 Centerline is valid? [True, True] Translation: X:188.31, Y:9.68, Z:-1.17 [[ 9.99865892e-01 -1.63283734e-02 1.25817688e-03 1.88306532e+02] [ 1.63283731e-02 9.99866683e-01 1.05192940e-05 9.68384840e+00] [-1.25818091e-03 1.00260982e-05 9.99999208e-01 -1.17074428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184391418 meters 0.05571080784372874 Centerline is valid? [True, True] Translation: X:188.37, Y:9.68, Z:-1.17 [[ 9.99843422e-01 -1.76112361e-02 1.72521846e-03 1.88367981e+02] [ 1.76112379e-02 9.99844910e-01 1.41349322e-05 9.68391732e+00] [-1.72519983e-03 1.62505138e-05 9.99998512e-01 -1.17108110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters 0.05504867878341513 Centerline is valid? [True, True] Translation: X:188.43, Y:9.68, Z:-1.17 [[ 9.99754007e-01 -2.20892727e-02 1.99761251e-03 1.88430473e+02] [ 2.20892841e-02 9.99756002e-01 1.63243676e-05 9.68148108e+00] [-1.99748569e-03 2.78054784e-05 9.99998005e-01 -1.17141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters 0.055544251088179446 Centerline is valid? [True, True] Translation: X:188.49, Y:9.68, Z:-1.17 [[ 9.99650118e-01 -2.64063748e-02 1.53118620e-03 1.88491459e+02] [ 2.64063868e-02 9.99651291e-01 1.24056981e-05 9.68193145e+00] [-1.53097985e-03 2.80317374e-05 9.99998828e-01 -1.17157275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters 0.05667565599507167 Centerline is valid? [True, True] Translation: X:188.55, Y:9.67, Z:-1.17 [[ 9.99500406e-01 -3.15802491e-02 1.27547606e-03 1.88550666e+02] [ 3.15802617e-02 9.99501219e-01 1.02640610e-05 9.67430979e+00] [-1.27516402e-03 3.00209346e-05 9.99999187e-01 -1.17323757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42439141799997 meters 0.056687717946963964 Centerline is valid? [True, True] Translation: X:188.61, Y:9.67, Z:-1.17 [[ 9.99409009e-01 -3.43393995e-02 1.56143025e-03 1.88611298e+02] [ 3.43394216e-02 9.99410228e-01 1.26444392e-05 9.67160723e+00] [-1.56094356e-03 4.09816452e-05 9.99998781e-01 -1.17351413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48439141799997 meters 0.056633676068075844 Centerline is valid? [True, True] Translation: X:188.67, Y:9.67, Z:-1.17 [[ 9.99273517e-01 -3.80806687e-02 1.51686745e-03 1.88671848e+02] [ 3.80806940e-02 9.99274667e-01 1.22486890e-05 9.67142055e+00] [-1.51623365e-03 4.55235746e-05 9.99998849e-01 -1.17381049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54439141799998 meters 0.05615322215363498 Centerline is valid? [True, True] Translation: X:188.73, Y:9.67, Z:-1.17 [[ 9.99191037e-01 -4.01725675e-02 1.85400372e-03 1.88733073e+02] [ 4.01726087e-02 9.99192755e-01 1.50201478e-05 9.66918282e+00] [-1.85311048e-03 5.94721688e-05 9.99998281e-01 -1.17447250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60439141799998 meters 0.055635249350721054 Centerline is valid? [True, True] Translation: X:188.80, Y:9.67, Z:-1.17 [[ 9.99189442e-01 -4.01648690e-02 2.69127955e-03 1.88796237e+02] [ 4.01649557e-02 9.99193062e-01 2.18536686e-05 9.67005549e+00] [-2.68998560e-03 8.62591688e-05 9.99996378e-01 -1.17398911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66439141799998 meters 0.056006213568938014 Centerline is valid? [True, True] Translation: X:188.86, Y:9.67, Z:-1.17 [[ 9.99300052e-01 -3.71448450e-02 4.43470083e-03 1.88856253e+02] [ 3.71450531e-02 9.99309884e-01 3.54584764e-05 9.66755860e+00] [-4.43295747e-03 1.29293540e-04 9.99990166e-01 -1.17350174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72439141799998 meters 0.05780935559484519 Centerline is valid? [True, True] Translation: X:188.92, Y:9.66, Z:-1.17 [[ 9.99417182e-01 -3.39373517e-02 3.68130736e-03 1.88916369e+02] [ 3.39374734e-02 9.99423958e-01 2.94345786e-05 9.66242095e+00] [-3.68018570e-03 9.55168469e-05 9.99993224e-01 -1.17460110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78439141799998 meters 0.056012562699979035 Centerline is valid? [True, True] Translation: X:188.98, Y:9.67, Z:-1.18 [[ 9.99513728e-01 -3.11023031e-02 2.22575318e-03 1.88977722e+02] [ 3.11023404e-02 9.99516205e-01 1.78542338e-05 9.66808406e+00] [-2.22523168e-03 5.13805814e-05 9.99997523e-01 -1.17642505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844391418 meters 0.05638727380802802 Centerline is valid? [True, True] Translation: X:189.04, Y:9.67, Z:-1.18 [[ 9.99586813e-01 -2.87435354e-02 1.11368276e-04 1.89039316e+02] [ 2.87435355e-02 9.99586819e-01 9.76244514e-07 9.66688875e+00] [-1.11350322e-04 2.22527686e-06 9.99999994e-01 -1.17905192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904391418 meters 0.05613218725264064 Centerline is valid? [True, True] Translation: X:189.10, Y:9.67, Z:-1.18 [[ 9.99613809e-01 -2.77845953e-02 -4.98592813e-04 1.89101352e+02] [ 2.77845969e-02 9.99613934e-01 -3.70676082e-06 9.66858520e+00] [ 4.98503314e-04 -1.01478710e-05 9.99999876e-01 -1.17911394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters 0.055839684993526345 Centerline is valid? [True, True] Translation: X:189.16, Y:9.67, Z:-1.18 [[ 9.99647302e-01 -2.65552721e-02 2.97585987e-04 1.89163334e+02] [ 2.65552725e-02 9.99647347e-01 2.59839081e-06 9.66894713e+00] [-2.97550043e-04 5.30500263e-06 9.99999956e-01 -1.17827734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters 0.05646383239009355 Centerline is valid? [True, True] Translation: X:189.22, Y:9.67, Z:-1.18 [[ 9.99713255e-01 -2.39173994e-02 1.16901054e-03 1.89223833e+02] [ 2.39174049e-02 9.99713938e-01 9.25623049e-06 9.66609933e+00] [-1.16889752e-03 1.87061222e-05 9.99999317e-01 -1.17811648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters 0.05572329328690951 Centerline is valid? [True, True] Translation: X:189.29, Y:9.67, Z:-1.18 [[ 9.99740683e-01 -2.26840044e-02 2.00084267e-03 1.89285639e+02] [ 2.26840180e-02 9.99742684e-01 1.58806568e-05 9.67357567e+00] [-2.00068806e-03 2.95106126e-05 9.99997998e-01 -1.17625013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14439141799997 meters 0.05603563804171471 Centerline is valid? [True, True] Translation: X:189.35, Y:9.66, Z:-1.18 [[ 9.99728071e-01 -2.31920554e-02 2.43167929e-03 1.89346518e+02] [ 2.31920773e-02 9.99731027e-01 1.91831119e-05 9.66308660e+00] [-2.43147013e-03 3.72177987e-05 9.99997043e-01 -1.17837069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20439141799997 meters 0.0565812461107059 Centerline is valid? [True, True] Translation: X:189.41, Y:9.66, Z:-1.18 [[ 9.99674632e-01 -2.52521268e-02 3.60014813e-03 1.89408854e+02] [ 2.52521889e-02 9.99681112e-01 2.82023710e-05 9.66089515e+00] [-3.59971225e-03 6.27184257e-05 9.99993519e-01 -1.17808584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26439141799997 meters 0.0557290997163672 Centerline is valid? [True, True] Translation: X:189.47, Y:9.66, Z:-1.18 [[ 9.99618709e-01 -2.72980491e-02 4.15359510e-03 1.89471140e+02] [ 2.72981501e-02 9.99627336e-01 3.23791960e-05 9.65768749e+00] [-4.15293110e-03 8.10186126e-05 9.99991373e-01 -1.17811139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32439141799998 meters 0.05655364570583099 Centerline is valid? [True, True] Translation: X:189.53, Y:9.66, Z:-1.18 [[ 9.99586577e-01 -2.84892769e-02 3.87762544e-03 1.89533036e+02] [ 2.84893744e-02 9.99594095e-01 3.01179140e-05 9.65610248e+00] [-3.87690953e-03 8.03656603e-05 9.99992482e-01 -1.17839024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38439141799998 meters 0.05710751531127317 Centerline is valid? [True, True] Translation: X:189.59, Y:9.65, Z:-1.18 [[ 9.99549373e-01 -2.99248926e-02 2.35620874e-03 1.89593947e+02] [ 2.99249326e-02 9.99552149e-01 1.82711603e-05 9.64849837e+00] [-2.35570027e-03 5.22464610e-05 9.99997224e-01 -1.18049644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44439141799998 meters 0.0580071195749149 Centerline is valid? [True, True] Translation: X:189.66, Y:9.65, Z:-1.18 [[ 9.99523303e-01 -3.08211727e-02 1.79476140e-03 1.89655595e+02] [ 3.08211973e-02 9.99524914e-01 1.39389085e-05 9.64557489e+00] [-1.79433835e-03 4.13844315e-05 9.99998389e-01 -1.18167818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50439141799998 meters 0.05725897426902397 Centerline is valid? [True, True] Translation: X:189.72, Y:9.64, Z:-1.18 [[ 9.99469819e-01 -3.25113740e-02 1.75825298e-03 1.89717800e+02] [ 3.25114003e-02 9.99471365e-01 1.36096328e-05 9.64499026e+00] [-1.75776597e-03 4.35608491e-05 9.99998454e-01 -1.18136781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56439141799999 meters 0.056963020500834786 Centerline is valid? [True, True] Translation: X:189.78, Y:9.64, Z:-1.18 [[ 9.99394405e-01 -3.47266728e-02 2.20956718e-03 1.89778493e+02] [ 3.47267203e-02 9.99396845e-01 1.68951375e-05 9.63782049e+00] [-2.20882118e-03 5.98461153e-05 9.99997559e-01 -1.18173610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624391418 meters 0.05802416275818367 Centerline is valid? [True, True] Translation: X:189.84, Y:9.63, Z:-1.18 [[ 9.99308275e-01 -3.70752644e-02 2.89748385e-03 1.89839213e+02] [ 3.70753560e-02 9.99312472e-01 2.21182346e-05 9.63463313e+00] [-2.89631179e-03 8.53223104e-05 9.99995802e-01 -1.18143388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684391418 meters 0.056350051917466296 Centerline is valid? [True, True] Translation: X:189.90, Y:9.64, Z:-1.18 [[ 9.99173051e-01 -4.04992447e-02 3.60895821e-03 1.89900506e+02] [ 4.04994092e-02 9.99179562e-01 2.75308913e-05 9.64101848e+00] [-3.60711226e-03 1.18652551e-04 9.99993487e-01 -1.18004225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters 0.057329972963061526 Centerline is valid? [True, True] Translation: X:189.96, Y:9.63, Z:-1.18 [[ 9.99060319e-01 -4.32218519e-02 3.21737370e-03 1.89960368e+02] [ 4.32219970e-02 9.99065493e-01 2.44572409e-05 9.63129292e+00] [-3.21542413e-03 1.14627058e-04 9.99994824e-01 -1.18089740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters 0.056416451594127295 Centerline is valid? [True, True] Translation: X:190.02, Y:9.63, Z:-1.18 [[ 9.98972703e-01 -4.51986660e-02 3.25874555e-03 1.90021032e+02] [ 4.51988252e-02 9.98978011e-01 2.48169558e-05 9.63335682e+00] [-3.25653684e-03 1.22500009e-04 9.99994690e-01 -1.18172307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86439141799997 meters 0.06188246623295078 Centerline is valid? [True, True] Translation: X:190.08, Y:9.61, Z:-1.19 [[ 9.98927776e-01 -4.62816235e-02 1.14406994e-03 1.90081823e+02] [ 4.62816437e-02 9.98928431e-01 8.75822416e-06 9.61272506e+00] [-1.14324933e-03 4.42006039e-05 9.99999346e-01 -1.18552530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92439141799997 meters 0.05770096095590994 Centerline is valid? [True, True] Translation: X:190.14, Y:9.63, Z:-1.18 [[ 9.98981295e-01 -4.51158738e-02 9.64242414e-04 1.90143073e+02] [ 4.51158877e-02 9.98981760e-01 7.37626958e-06 9.62684246e+00] [-9.63593371e-04 3.61338972e-05 9.99999535e-01 -1.18467604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98439141799997 meters 0.0578472520302315 Centerline is valid? [True, True] Translation: X:190.20, Y:9.63, Z:-1.18 [[ 9.99057013e-01 -4.33906422e-02 1.52876227e-03 1.90204644e+02] [ 4.33906751e-02 9.99058181e-01 1.16516463e-05 9.62891907e+00] [-1.52782803e-03 5.46933682e-05 9.99998831e-01 -1.18459910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04439141799998 meters 0.05708917256365596 Centerline is valid? [True, True] Translation: X:190.27, Y:9.63, Z:-1.18 [[ 9.99141540e-01 -4.13705490e-02 2.15900446e-03 1.90265466e+02] [ 4.13706102e-02 9.99143870e-01 1.62873675e-05 9.63275877e+00] [-2.15782988e-03 7.30459464e-05 9.99997669e-01 -1.18409970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10439141799998 meters 0.05780273931734191 Centerline is valid? [True, True] Translation: X:190.33, Y:9.63, Z:-1.18 [[ 9.99161946e-01 -4.08891243e-02 1.86711011e-03 1.90326589e+02] [ 4.08891692e-02 9.99163688e-01 1.41411566e-05 9.63140960e+00] [-1.86612685e-03 6.22152757e-05 9.99998257e-01 -1.18436175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16439141799998 meters 0.05863495012335969 Centerline is valid? [True, True] Translation: X:190.39, Y:9.63, Z:-1.19 [[ 9.99150950e-01 -4.11885652e-02 9.38502222e-04 1.90388387e+02] [ 4.11885766e-02 9.99151390e-01 7.19099874e-06 9.63080795e+00] [-9.38001987e-04 3.14706774e-05 9.99999560e-01 -1.18540427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22439141799998 meters 0.058660854097245314 Centerline is valid? [True, True] Translation: X:190.45, Y:9.64, Z:-1.18 [[ 9.99173047e-01 -4.06524297e-02 7.75448056e-04 1.90450395e+02] [ 4.06524373e-02 9.99173348e-01 5.98705504e-06 9.63538802e+00] [-7.75050419e-04 2.55417495e-05 9.99999699e-01 -1.18499523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28439141799998 meters 0.05828335875312693 Centerline is valid? [True, True] Translation: X:190.51, Y:9.64, Z:-1.19 [[ 9.99241195e-01 -3.89191495e-02 1.52774272e-03 1.90512117e+02] [ 3.89191774e-02 9.99242362e-01 1.14882410e-05 9.63636182e+00] [-1.52703236e-03 4.79789661e-05 9.99998833e-01 -1.18501164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344391418 meters 0.059949789004056876 Centerline is valid? [True, True] Translation: X:190.57, Y:9.63, Z:-1.19 [[ 9.99329248e-01 -3.65681399e-02 1.95577958e-03 1.90572678e+02] [ 3.65681816e-02 9.99331160e-01 1.44757202e-05 9.63289274e+00] [-1.95500083e-03 5.70532923e-05 9.99998087e-01 -1.18549874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404391418 meters 0.056409534186434754 Centerline is valid? [True, True] Translation: X:190.63, Y:9.65, Z:-1.18 [[ 9.99472144e-01 -3.22796139e-02 3.66867980e-03 1.90632855e+02] [ 3.22797316e-02 9.99478873e-01 2.71557430e-05 9.65327753e+00] [-3.66764453e-03 9.12825904e-05 9.99993270e-01 -1.18360495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters 0.056854595122739014 Centerline is valid? [True, True] Translation: X:190.69, Y:9.66, Z:-1.18 [[ 9.99650904e-01 -2.61410586e-02 3.83598237e-03 1.90692887e+02] [ 2.61411421e-02 9.99658262e-01 2.83913342e-05 9.65742796e+00] [-3.83541365e-03 7.18955372e-05 9.99992642e-01 -1.18419317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters 0.057295043136221635 Centerline is valid? [True, True] Translation: X:190.75, Y:9.66, Z:-1.18 [[ 9.99805115e-01 -1.92573464e-02 4.34592795e-03 1.90752552e+02] [ 1.92573885e-02 9.99814559e-01 3.21577719e-05 9.66360490e+00] [-4.34574131e-03 5.15397181e-05 9.99990556e-01 -1.18359384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters 0.05628483424937979 Centerline is valid? [True, True] Translation: X:190.81, Y:9.67, Z:-1.18 [[ 9.99860669e-01 -1.60998857e-02 4.40865255e-03 1.90814959e+02] [ 1.60998980e-02 9.99870388e-01 3.27060541e-05 9.66657989e+00] [-4.40860770e-03 3.82773591e-05 9.99990281e-01 -1.18388257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64439141799997 meters 0.05670464019911503 Centerline is valid? [True, True] Translation: X:190.88, Y:9.67, Z:-1.19 [[ 9.99878620e-01 -1.54453311e-02 2.04626063e-03 1.90877084e+02] [ 1.54453320e-02 9.99880714e-01 1.53597020e-05 9.66675819e+00] [-2.04625378e-03 1.62473372e-05 9.99997906e-01 -1.18605752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70439141799997 meters 0.05633791828996881 Centerline is valid? [True, True] Translation: X:190.94, Y:9.67, Z:-1.19 [[ 9.99867212e-01 -1.61792871e-02 1.94677338e-03 1.90939704e+02] [ 1.61792900e-02 9.99869107e-01 1.42796561e-05 9.66822450e+00] [-1.94674959e-03 1.72196511e-05 9.99998105e-01 -1.18639757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76439141799997 meters 0.05680054905568409 Centerline is valid? [True, True] Translation: X:191.00, Y:9.67, Z:-1.19 [[ 9.99798642e-01 -2.00309904e-02 1.19791632e-03 1.91001242e+02] [ 2.00309940e-02 9.99799359e-01 8.93636123e-06 9.66500047e+00] [-1.19785497e-03 1.50608929e-05 9.99999282e-01 -1.18743960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82439141799998 meters 0.05665176862723764 Centerline is valid? [True, True] Translation: X:191.06, Y:9.67, Z:-1.19 [[ 9.99727054e-01 -2.33039664e-02 1.65627217e-03 1.91063135e+02] [ 2.33039779e-02 9.99728425e-01 1.23696215e-05 9.66630218e+00] [-1.65611063e-03 2.62314847e-05 9.99998628e-01 -1.18650959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88439141799998 meters 0.05643202850587068 Centerline is valid? [True, True] Translation: X:191.12, Y:9.66, Z:-1.19 [[ 9.99611979e-01 -2.78384045e-02 9.56918580e-04 1.91122714e+02] [ 2.78384107e-02 9.99612436e-01 6.75931265e-06 9.66427188e+00] [-9.56735882e-04 1.98824026e-05 9.99999542e-01 -1.18708006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94439141799998 meters 0.05744954127877296 Centerline is valid? [True, True] Translation: X:191.18, Y:9.66, Z:-1.19 [[ 9.99523355e-01 -3.08697815e-02 3.44534656e-04 1.91182567e+02] [ 3.08697824e-02 9.99523415e-01 2.65376823e-06 9.65756228e+00] [-3.44452377e-04 7.98320654e-06 9.99999941e-01 -1.18873995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00439141799998 meters 0.0579064050407676 Centerline is valid? [True, True] Translation: X:191.24, Y:9.65, Z:-1.19 [[ 9.99484765e-01 -3.20949102e-02 3.47295909e-04 1.91244653e+02] [ 3.20949112e-02 9.99484826e-01 2.61176999e-06 9.65430557e+00] [-3.47200816e-04 8.53600706e-06 9.99999940e-01 -1.19007986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06439141799999 meters 0.05688897347881298 Centerline is valid? [True, True] Translation: X:191.31, Y:9.66, Z:-1.19 [[ 9.99473539e-01 -3.24281630e-02 1.02876541e-03 1.91306514e+02] [ 3.24281726e-02 9.99474068e-01 7.35228485e-06 9.66094541e+00] [-1.02846277e-03 2.60125682e-05 9.99999471e-01 -1.18868750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124391418 meters 0.056821248781029794 Centerline is valid? [True, True] Translation: X:191.37, Y:9.66, Z:-1.19 [[ 9.99538155e-01 -3.03482541e-02 1.56823672e-03 1.91366948e+02] [ 3.03482742e-02 9.99539385e-01 1.09545582e-05 9.66162688e+00] [-1.56784682e-03 3.66437791e-05 9.99998770e-01 -1.18848466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184391418 meters 0.057933058618987 Centerline is valid? [True, True] Translation: X:191.43, Y:9.66, Z:-1.19 [[ 9.99632843e-01 -2.70222841e-02 1.99391620e-03 1.91427714e+02] [ 2.70223101e-02 9.99634831e-01 1.39009491e-05 9.66090402e+00] [-1.99356372e-03 3.99843766e-05 9.99998012e-01 -1.18974476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters 0.056522599312466414 Centerline is valid? [True, True] Translation: X:191.49, Y:9.68, Z:-1.19 [[ 9.99810947e-01 -1.94011896e-02 1.29031199e-03 1.91488388e+02] [ 1.94011941e-02 9.99811779e-01 9.01891696e-06 9.67561354e+00] [-1.29024410e-03 1.60163814e-05 9.99999168e-01 -1.18899004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters 0.05604513471639008 Centerline is valid? [True, True] Translation: X:191.55, Y:9.68, Z:-1.19 [[ 9.99944791e-01 -1.04744157e-02 8.37219098e-04 1.91549621e+02] [ 1.04744145e-02 9.99945142e-01 5.89351348e-06 9.68140956e+00] [-8.37234900e-04 2.87619173e-06 9.99999650e-01 -1.18970128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36439141799997 meters 0.05677731118738599 Centerline is valid? [True, True] Translation: X:191.61, Y:9.68, Z:-1.19 [[ 9.99986661e-01 -5.16260083e-03 1.62442999e-04 1.91611421e+02] [ 5.16260068e-03 9.99986674e-01 1.32611097e-06 9.68449774e+00] [-1.62447680e-04 -4.87464936e-07 9.99999987e-01 -1.18956168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42439141799997 meters 0.05742937764800493 Centerline is valid? [True, True] Translation: X:191.67, Y:9.69, Z:-1.19 [[ 9.99997630e-01 1.35628016e-04 -2.17285849e-03 1.91671440e+02] [-1.35660686e-04 9.99999991e-01 -1.48879655e-05 9.68714610e+00] [ 2.17285645e-03 1.51827017e-05 9.99997639e-01 -1.19087329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48439141799997 meters 0.05720259899198906 Centerline is valid? [True, True] Translation: X:191.73, Y:9.69, Z:-1.19 [[ 9.99997196e-01 1.15533310e-03 -2.06700588e-03 1.91729960e+02] [-1.15536680e-03 9.99999332e-01 -1.51109155e-05 9.68797421e+00] [ 2.06698704e-03 1.74990231e-05 9.99997864e-01 -1.19076211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54439141799998 meters 0.05670915651550382 Centerline is valid? [True, True] Translation: X:191.79, Y:9.69, Z:-1.19 [[ 9.99999022e-01 -2.29152701e-04 -1.37982286e-03 1.91789634e+02] [ 2.29139442e-04 9.99999974e-01 -9.76784813e-06 9.68528984e+00] [ 1.37982506e-03 9.45166674e-06 9.99999048e-01 -1.18882066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60439141799998 meters 0.056792284503022726 Centerline is valid? [True, True] Translation: X:191.85, Y:9.69, Z:-1.19 [[ 9.99995347e-01 -3.05032194e-03 -3.47242532e-05 1.91848281e+02] [ 3.05032193e-03 9.99995348e-01 -3.45819644e-07 9.68530769e+00] [ 3.47251464e-05 2.39897889e-07 9.99999999e-01 -1.19043157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66439141799998 meters 0.05629482151507908 Centerline is valid? [True, True] Translation: X:191.91, Y:9.68, Z:-1.19 [[ 9.99957672e-01 -9.13771691e-03 1.07550197e-03 1.91908508e+02] [ 9.13771403e-03 9.99958250e-01 7.59103528e-06 9.67923859e+00] [-1.07552643e-03 2.23691545e-06 9.99999422e-01 -1.18869190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72439141799998 meters 0.056498747457327865 Centerline is valid? [True, True] Translation: X:191.97, Y:9.67, Z:-1.19 [[ 9.99818112e-01 -1.90582973e-02 7.24191742e-04 1.91970120e+02] [ 1.90582986e-02 9.99818374e-01 5.20742534e-06 9.66987960e+00] [-7.24159455e-04 8.59538426e-06 9.99999738e-01 -1.18982952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78439141799998 meters 0.056800115959955835 Centerline is valid? [True, True] Translation: X:192.03, Y:9.67, Z:-1.19 [[ 9.99518485e-01 -3.10283735e-02 -1.96816429e-04 1.92030706e+02] [ 3.10283738e-02 9.99518504e-01 -1.35633599e-06 9.66812676e+00] [ 1.96763748e-04 -4.75121085e-06 9.99999981e-01 -1.18777985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844391418 meters 0.05823939507659234 Centerline is valid? [True, True] Translation: X:192.09, Y:9.65, Z:-1.19 [[ 9.99253463e-01 -3.86291732e-02 -5.51280852e-04 1.92090848e+02] [ 3.86291769e-02 9.99253615e-01 -3.82349913e-06 9.64939715e+00] [ 5.51017082e-04 -1.74748808e-05 9.99999848e-01 -1.19109689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904391418 meters 0.05701545221621776 Centerline is valid? [True, True] Translation: X:192.15, Y:9.65, Z:-1.19 [[ 9.98879994e-01 -4.73032601e-02 -1.07662188e-03 1.92151181e+02] [ 4.73032795e-02 9.98880573e-01 -7.51045007e-06 9.65312607e+00] [ 1.07577194e-03 -4.34257071e-05 9.99999420e-01 -1.18965719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters 0.056973498811510925 Centerline is valid? [True, True] Translation: X:192.21, Y:9.65, Z:-1.19 [[ 9.98652074e-01 -5.18777634e-02 -1.65313607e-03 1.92212458e+02] [ 5.18778155e-02 9.98653439e-01 -1.14310027e-05 9.65020014e+00] [ 1.65150304e-03 -7.43454933e-05 9.99998634e-01 -1.18934612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters 0.05851079508592965 Centerline is valid? [True, True] Translation: X:192.27, Y:9.64, Z:-1.19 [[ 9.98589083e-01 -5.30754370e-02 -1.68570822e-03 1.92272623e+02] [ 5.30754927e-02 9.98590503e-01 -1.16793700e-05 9.64468339e+00] [ 1.68395210e-03 -7.78069028e-05 9.99998579e-01 -1.18961872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters 0.05762014137653739 Centerline is valid? [True, True] Translation: X:192.33, Y:9.65, Z:-1.19 [[ 9.98572948e-01 -5.33601108e-02 -2.18308235e-03 1.92334801e+02] [ 5.33602054e-02 9.98575329e-01 -1.49144361e-05 9.64858109e+00] [ 2.18076801e-03 -1.01596570e-04 9.99997617e-01 -1.18843978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14439141799997 meters 0.0575654078487303 Centerline is valid? [True, True] Translation: X:192.40, Y:9.65, Z:-1.19 [[ 9.98564474e-01 -5.34952746e-02 -2.69201902e-03 1.92396550e+02] [ 5.34954192e-02 9.98568095e-01 -1.83488890e-05 9.65016002e+00] [ 2.68914588e-03 -1.25688137e-04 9.99996376e-01 -1.18794366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20439141799997 meters 0.058167276950393185 Centerline is valid? [True, True] Translation: X:192.46, Y:9.65, Z:-1.19 [[ 9.98591060e-01 -5.29893617e-02 -2.83233427e-03 1.92458043e+02] [ 5.29895217e-02 9.98595068e-01 -1.85719567e-05 9.64760237e+00] [ 2.82933915e-03 -1.31538248e-04 9.99995989e-01 -1.18837468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26439141799997 meters 0.05852266727020091 Centerline is valid? [True, True] Translation: X:192.52, Y:9.65, Z:-1.19 [[ 9.98684385e-01 -5.12378295e-02 -2.04555400e-03 1.92518765e+02] [ 5.12379085e-02 9.98686476e-01 -1.38012962e-05 9.65100054e+00] [ 2.04357426e-03 -9.10267697e-05 9.99997908e-01 -1.18761533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32439141799998 meters 0.05770683784804545 Centerline is valid? [True, True] Translation: X:192.58, Y:9.65, Z:-1.19 [[ 9.98781969e-01 -4.93240527e-02 -1.31011464e-03 1.92579192e+02] [ 4.93240834e-02 9.98782827e-01 -8.87556597e-06 9.65264060e+00] [ 1.30895778e-03 -5.57554485e-05 9.99999142e-01 -1.18740858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38439141799998 meters 0.05766575086921652 Centerline is valid? [True, True] Translation: X:192.64, Y:9.66, Z:-1.19 [[ 9.98942477e-01 -4.59615898e-02 -1.20847204e-03 1.92639889e+02] [ 4.59616135e-02 9.98943207e-01 -8.18467829e-06 9.65667917e+00] [ 1.20757112e-03 -4.73673021e-05 9.99999270e-01 -1.18797299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44439141799998 meters 0.05744740795835052 Centerline is valid? [True, True] Translation: X:192.70, Y:9.66, Z:-1.19 [[ 9.99108809e-01 -4.21691274e-02 -1.83099574e-03 1.92700498e+02] [ 4.21691754e-02 9.99110485e-01 -1.23998024e-05 9.66162279e+00] [ 1.82988993e-03 -6.48228289e-05 9.99998324e-01 -1.18831796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50439141799998 meters 0.057082180857432066 Centerline is valid? [True, True] Translation: X:192.76, Y:9.66, Z:-1.19 [[ 9.99235518e-01 -3.90108976e-02 -2.55514697e-03 1.92761193e+02] [ 3.90109809e-02 9.99238782e-01 -1.72382928e-05 9.66376545e+00] [ 2.55387443e-03 -8.24536751e-05 9.99996735e-01 -1.18885272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56439141799999 meters 0.05760059712037964 Centerline is valid? [True, True] Translation: X:192.82, Y:9.67, Z:-1.19 [[ 9.99490750e-01 -3.18428606e-02 -2.06726718e-03 1.92822277e+02] [ 3.18428998e-02 9.99492886e-01 -1.39250336e-05 9.66977367e+00] [ 2.06666226e-03 -5.19098395e-05 9.99997863e-01 -1.18862753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624391418 meters 0.05752485970817224 Centerline is valid? [True, True] Translation: X:192.88, Y:9.67, Z:-1.19 [[ 9.99585425e-01 -2.87016420e-02 -2.27909585e-03 1.92883018e+02] [ 2.87016819e-02 9.99588022e-01 -1.51986402e-05 9.66638321e+00] [ 2.27859314e-03 -5.02215449e-05 9.99997403e-01 -1.19099844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684391418 meters 0.057173910637735234 Centerline is valid? [True, True] Translation: X:192.94, Y:9.68, Z:-1.19 [[ 9.99826211e-01 -1.85109440e-02 -2.21176451e-03 1.92943339e+02] [ 1.85109564e-02 9.99828657e-01 -1.48293463e-05 9.67684170e+00] [ 2.21166005e-03 -2.61151074e-05 9.99997554e-01 -1.19024654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters 0.05776904554737501 Centerline is valid? [True, True] Translation: X:193.00, Y:9.68, Z:-1.19 [[ 9.99951801e-01 -9.58715260e-03 -2.11724572e-03 1.93004692e+02] [ 9.58714437e-03 9.99954042e-01 -1.40344249e-05 9.68212269e+00] [ 2.11728297e-03 -6.26459190e-06 9.99997759e-01 -1.19064724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters 0.05772591433269642 Centerline is valid? [True, True] Translation: X:193.07, Y:9.68, Z:-1.19 [[ 9.99981059e-01 -5.72907533e-03 -2.24921986e-03 1.93065356e+02] [ 5.72905608e-03 9.99983589e-01 -1.50013265e-05 9.68459428e+00] [ 2.24926889e-03 2.11513568e-06 9.99997470e-01 -1.19078772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86439141799997 meters 0.05745794451419831 Centerline is valid? [True, True] Translation: X:193.13, Y:9.68, Z:-1.19 [[ 9.99993973e-01 -3.21274726e-03 -1.31609458e-03 1.93125886e+02] [ 3.21273853e-03 9.99994839e-01 -8.74747184e-06 9.68476832e+00] [ 1.31611589e-03 4.51915136e-06 9.99999134e-01 -1.18980009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92439141799997 meters 0.05837415760057029 Centerline is valid? [True, True] Translation: X:193.19, Y:9.68, Z:-1.19 [[ 9.99994442e-01 -3.33286563e-03 -9.07358268e-05 1.93186155e+02] [ 3.33286559e-03 9.99994446e-01 -6.06469752e-07 9.68195231e+00] [ 9.07373441e-05 3.04056070e-07 9.99999996e-01 -1.18738759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98439141799997 meters 0.0585427033348912 Centerline is valid? [True, True] Translation: X:193.25, Y:9.68, Z:-1.19 [[ 9.99988602e-01 -4.75044002e-03 -4.79291837e-04 1.93246243e+02] [ 4.75043902e-03 9.99988717e-01 -3.21343711e-06 9.67821746e+00] [ 4.79301694e-04 9.36553843e-07 9.99999885e-01 -1.18949812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04439141799998 meters 0.05820980019825267 Centerline is valid? [True, True] Translation: X:193.31, Y:9.67, Z:-1.19 [[ 9.99971598e-01 -7.45547753e-03 -1.10444241e-03 1.93307636e+02] [ 7.45547405e-03 9.99972208e-01 -7.26234232e-06 9.67251030e+00] [ 1.10446586e-03 -9.72005676e-07 9.99999390e-01 -1.18997191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10439141799998 meters 0.05812043776612846 Centerline is valid? [True, True] Translation: X:193.37, Y:9.67, Z:-1.19 [[ 9.99948945e-01 -1.00714194e-02 -8.20913001e-04 1.93369430e+02] [ 1.00714184e-02 9.99949282e-01 -5.35654480e-06 9.66799441e+00] [ 8.20925313e-04 -2.91148698e-06 9.99999663e-01 -1.18985394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16439141799998 meters 0.05771319120973403 Centerline is valid? [True, True] Translation: X:193.43, Y:9.66, Z:-1.19 [[ 9.99893330e-01 -1.45886955e-02 -7.06544825e-04 1.93431260e+02] [ 1.45886963e-02 9.99893579e-01 -3.95566610e-06 9.66238628e+00] [ 7.06527342e-04 -6.35232374e-06 9.99999750e-01 -1.18938062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22439141799998 meters 0.05803529533924432 Centerline is valid? [True, True] Translation: X:193.49, Y:9.66, Z:-1.19 [[ 9.99813883e-01 -1.92924871e-02 1.27374052e-05 1.93491931e+02] [ 1.92924871e-02 9.99813883e-01 1.82595063e-07 9.65659263e+00] [-1.27385573e-05 6.31751498e-08 1.00000000e+00 -1.18959061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28439141799998 meters 0.05874280804157484 Centerline is valid? [True, True] Translation: X:193.55, Y:9.65, Z:-1.19 [[ 9.99749486e-01 -2.23731487e-02 6.37695841e-04 1.93553715e+02] [ 2.23731505e-02 9.99749690e-01 4.33545401e-06 9.64914177e+00] [-6.37633217e-04 9.93289712e-06 9.99999797e-01 -1.19079806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344391418 meters 0.058282514719427116 Centerline is valid? [True, True] Translation: X:193.62, Y:9.65, Z:-1.19 [[ 9.99733451e-01 -2.30716003e-02 8.53382084e-04 1.93615748e+02] [ 2.30716038e-02 9.99733815e-01 5.70880080e-06 9.64820960e+00] [-8.53286638e-04 1.39816143e-05 9.99999636e-01 -1.19084639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404391418 meters 0.05826227187206813 Centerline is valid? [True, True] Translation: X:193.68, Y:9.64, Z:-1.19 [[ 9.99757063e-01 -2.20189009e-02 9.91156830e-04 1.93677468e+02] [ 2.20189051e-02 9.99757555e-01 6.63339012e-06 9.64049411e+00] [-9.91062588e-04 1.51924096e-05 9.99999509e-01 -1.19334074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters 0.058360242565028635 Centerline is valid? [True, True] Translation: X:193.74, Y:9.65, Z:-1.19 [[ 9.99794936e-01 -2.01302162e-02 2.20471881e-03 1.93739958e+02] [ 2.01302337e-02 9.99797366e-01 1.42665151e-05 9.64616208e+00] [-2.20455925e-03 3.01179153e-05 9.99997570e-01 -1.19215600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters 0.05831643850573354 Centerline is valid? [True, True] Translation: X:193.80, Y:9.64, Z:-1.19 [[ 9.99863338e-01 -1.64688054e-02 1.44320587e-03 1.93800694e+02] [ 1.64688091e-02 9.99864380e-01 9.31943148e-06 9.64418187e+00] [-1.44316362e-03 1.44497240e-05 9.99998959e-01 -1.19383280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters 0.05871329837782502 Centerline is valid? [True, True] Translation: X:193.86, Y:9.64, Z:-1.19 [[ 9.99898014e-01 -1.42129688e-02 1.39733946e-03 1.93862678e+02] [ 1.42129700e-02 9.99898991e-01 9.03316383e-06 9.64439328e+00] [-1.39732670e-03 1.08281013e-05 9.99999024e-01 -1.19448684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64439141799997 meters 0.05834568718039511 Centerline is valid? [True, True] Translation: X:193.92, Y:9.64, Z:-1.20 [[ 9.99898712e-01 -1.40389341e-02 2.33988371e-03 1.93924893e+02] [ 1.40389375e-02 9.99901449e-01 1.49588897e-05 9.64303402e+00] [-2.33986312e-03 1.78921066e-05 9.99997262e-01 -1.19510735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70439141799997 meters 0.0584391811356508 Centerline is valid? [True, True] Translation: X:193.99, Y:9.64, Z:-1.19 [[ 9.99863445e-01 -1.61652025e-02 3.43171346e-03 1.93986455e+02] [ 1.61652232e-02 9.99869334e-01 2.16961330e-05 9.63969653e+00] [-3.43161578e-03 3.37812439e-05 9.99994111e-01 -1.19492853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76439141799997 meters 0.05820210639076343 Centerline is valid? [True, True] Translation: X:194.05, Y:9.63, Z:-1.20 [[ 9.99761370e-01 -2.15060935e-02 3.83282150e-03 1.94046171e+02] [ 2.15061602e-02 9.99768716e-01 2.38064390e-05 9.63412859e+00] [-3.83244701e-03 5.86285152e-05 9.99992654e-01 -1.19513876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82439141799998 meters 0.058161100267286325 Centerline is valid? [True, True] Translation: X:194.11, Y:9.63, Z:-1.20 [[ 9.99632944e-01 -2.65880592e-02 5.20122948e-03 1.94107102e+02] [ 2.65882508e-02 9.99646469e-01 3.23125130e-05 9.63451145e+00] [-5.20024981e-03 1.05990941e-04 9.99986473e-01 -1.19528710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88439141799998 meters 0.05820412393140143 Centerline is valid? [True, True] Translation: X:194.17, Y:9.63, Z:-1.20 [[ 9.99325371e-01 -3.61739697e-02 6.34410798e-03 1.94168018e+02] [ 3.61744481e-02 9.99345490e-01 3.93515484e-05 9.62611208e+00] [-6.34137920e-03 1.90169605e-04 9.99979875e-01 -1.19543603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94439141799998 meters 0.05993848250585437 Centerline is valid? [True, True] Translation: X:194.23, Y:9.62, Z:-1.20 [[ 9.98856484e-01 -4.72526097e-02 7.27434684e-03 1.94228157e+02] [ 4.72535323e-02 9.98882927e-01 4.50874384e-05 9.61805371e+00] [-7.26835136e-03 2.98702703e-04 9.99973541e-01 -1.19531172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00439141799998 meters 0.05814348238185862 Centerline is valid? [True, True] Translation: X:194.29, Y:9.62, Z:-1.20 [[ 9.98523750e-01 -5.37947140e-02 7.51324046e-03 1.94288438e+02] [ 5.37958830e-02 9.98551952e-01 4.65583824e-05 9.62397878e+00] [-7.50486552e-03 3.57691754e-04 9.99971774e-01 -1.19683622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06439141799999 meters 0.061958076866118136 Centerline is valid? [True, True] Translation: X:194.35, Y:9.61, Z:-1.20 [[ 9.98159680e-01 -6.02098826e-02 7.21272807e-03 1.94348085e+02] [ 6.02111272e-02 9.98185663e-01 4.46738909e-05 9.61412677e+00] [-7.20233157e-03 3.89694811e-04 9.99973987e-01 -1.19696042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124391418 meters 0.057207559561091886 Centerline is valid? [True, True] Translation: X:194.41, Y:9.63, Z:-1.20 [[ 9.98048478e-01 -6.18908379e-02 8.29218479e-03 1.94408963e+02] [ 6.18925418e-02 9.98082818e-01 5.12239825e-05 9.63026026e+00] [-8.27945746e-03 4.62100376e-04 9.99965618e-01 -1.19816823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184391418 meters 0.060577828555117764 Centerline is valid? [True, True] Translation: X:194.47, Y:9.62, Z:-1.20 [[ 9.98192025e-01 -5.95929779e-02 7.83316173e-03 1.94468094e+02] [ 5.95944280e-02 9.98222671e-01 4.83537303e-05 9.62250010e+00] [-7.82212117e-03 4.18546485e-04 9.99969319e-01 -1.19793494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters 0.05956038019200668 Centerline is valid? [True, True] Translation: X:194.53, Y:9.63, Z:-1.20 [[ 9.98505137e-01 -5.40799933e-02 7.92757812e-03 1.94528911e+02] [ 5.40813047e-02 9.98536534e-01 4.90078040e-05 9.63321421e+00] [-7.91862672e-03 3.79799223e-04 9.99968575e-01 -1.19819653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters 0.05799481309592206 Centerline is valid? [True, True] Translation: X:194.59, Y:9.64, Z:-1.20 [[ 9.98752331e-01 -4.92542878e-02 8.23380491e-03 1.94589535e+02] [ 4.92555381e-02 9.98786208e-01 5.09802903e-05 9.64237419e+00] [-8.22632178e-03 3.54643808e-04 9.99966100e-01 -1.19893001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36439141799997 meters 0.058391741045119135 Centerline is valid? [True, True] Translation: X:194.65, Y:9.65, Z:-1.20 [[ 9.99115185e-01 -4.10977213e-02 8.93446821e-03 1.94649637e+02] [ 4.10988683e-02 9.99155083e-01 5.52572924e-05 9.65372725e+00] [-8.92919027e-03 3.11988133e-04 9.99960085e-01 -1.19917524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42439141799997 meters 0.05793089417255297 Centerline is valid? [True, True] Translation: X:194.71, Y:9.66, Z:-1.20 [[ 9.99478909e-01 -3.11116375e-02 8.60095420e-03 1.94709200e+02] [ 3.11123310e-02 9.99515893e-01 5.31899913e-05 9.66157977e+00] [-8.59844525e-03 2.14433459e-04 9.99963010e-01 -1.19951240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48439141799997 meters 0.05719081119841378 Centerline is valid? [True, True] Translation: X:194.77, Y:9.67, Z:-1.20 [[ 9.99665084e-01 -2.43857627e-02 8.66335831e-03 1.94769977e+02] [ 2.43862135e-02 9.99702611e-01 5.36096069e-05 9.66922550e+00] [-8.66208923e-03 1.57674853e-04 9.99962471e-01 -1.20108302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54439141799998 meters 0.057993871002910306 Centerline is valid? [True, True] Translation: X:194.83, Y:9.67, Z:-1.20 [[ 9.99707084e-01 -2.26406131e-02 8.55276277e-03 1.94831738e+02] [ 2.26409898e-02 9.99743659e-01 5.27933901e-05 9.66848316e+00] [-8.55176561e-03 1.40865088e-04 9.99963423e-01 -1.20096536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60439141799998 meters 0.056922483551595876 Centerline is valid? [True, True] Translation: X:194.89, Y:9.68, Z:-1.20 [[ 9.99749833e-01 -2.03404977e-02 9.30245294e-03 1.94893614e+02] [ 2.03408468e-02 9.99793102e-01 5.70980442e-05 9.67613301e+00] [-9.30168969e-03 1.32136010e-04 9.99956730e-01 -1.20212751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66439141799998 meters 0.05655527725380516 Centerline is valid? [True, True] Translation: X:194.95, Y:9.68, Z:-1.20 [[ 9.99839643e-01 -1.61714669e-02 7.69238642e-03 1.94954254e+02] [ 1.61715836e-02 9.99869230e-01 4.70235462e-05 9.68117376e+00] [-7.69214093e-03 7.73820647e-05 9.99970412e-01 -1.20303866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72439141799998 meters 0.05697795982293586 Centerline is valid? [True, True] Translation: X:195.02, Y:9.69, Z:-1.20 [[ 9.99884905e-01 -1.28604933e-02 8.04891044e-03 1.95016338e+02] [ 1.28605152e-02 9.99917299e-01 4.90320397e-05 9.68634959e+00] [-8.04887536e-03 5.44867388e-05 9.99967606e-01 -1.20424931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78439141799998 meters 0.05728698522947378 Centerline is valid? [True, True] Translation: X:195.08, Y:9.69, Z:-1.21 [[ 9.99865503e-01 -1.34980086e-02 9.31552730e-03 1.95078817e+02] [ 1.34980689e-02 9.99908895e-01 5.64064291e-05 9.68736519e+00] [-9.31543998e-03 6.93427867e-05 9.99956608e-01 -1.20501691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844391418 meters 0.05625525480745474 Centerline is valid? [True, True] Translation: X:195.14, Y:9.69, Z:-1.21 [[ 9.99783485e-01 -1.91152708e-02 8.22124962e-03 1.95140014e+02] [ 1.91155111e-02 9.99817281e-01 4.93582623e-05 9.68533298e+00] [-8.22069094e-03 1.07805813e-04 9.99966204e-01 -1.20607438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904391418 meters 0.05721085035807108 Centerline is valid? [True, True] Translation: X:195.20, Y:9.68, Z:-1.21 [[ 9.99548913e-01 -2.91591012e-02 7.19149423e-03 1.95201213e+02] [ 2.91595492e-02 9.99574769e-01 4.25744528e-05 9.67839852e+00] [-7.18967761e-03 1.67145482e-04 9.99974140e-01 -1.20734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters 0.05663726512113579 Centerline is valid? [True, True] Translation: X:195.26, Y:9.68, Z:-1.21 [[ 9.99285448e-01 -3.71135399e-02 7.15391483e-03 1.95262316e+02] [ 3.71141878e-02 9.99311030e-01 4.22177074e-05 9.67586941e+00] [-7.15055285e-03 2.23324198e-04 9.99974410e-01 -1.20772389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters 0.05740583504459192 Centerline is valid? [True, True] Translation: X:195.32, Y:9.68, Z:-1.21 [[ 9.98786801e-01 -4.87529288e-02 6.93376756e-03 1.95323157e+02] [ 4.87538176e-02 9.98810825e-01 4.08846836e-05 9.67532761e+00] [-6.92751535e-03 2.97212557e-04 9.99975960e-01 -1.20813639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters 0.058664829908169125 Centerline is valid? [True, True] Translation: X:195.38, Y:9.66, Z:-1.21 [[ 9.98336351e-01 -5.74113325e-02 5.33573009e-03 1.95382666e+02] [ 5.74119822e-02 9.98350571e-01 3.14508137e-05 9.66180557e+00] [-5.32873482e-03 2.74936351e-04 9.99985764e-01 -1.20912936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14439141799997 meters 0.055740286553356756 Centerline is valid? [True, True] Translation: X:195.44, Y:9.68, Z:-1.21 [[ 9.98132218e-01 -6.08530658e-02 5.38330723e-03 1.95443240e+02] [ 6.08537772e-02 9.98146691e-01 3.17158431e-05 9.67907533e+00] [-5.37526031e-03 2.95937974e-04 9.99985509e-01 -1.21004857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20439141799997 meters 0.05706551886295323 Centerline is valid? [True, True] Translation: X:195.50, Y:9.68, Z:-1.21 [[ 9.98096439e-01 -6.14765174e-02 4.91285433e-03 1.95504756e+02] [ 6.14771174e-02 9.98108493e-01 2.89355035e-05 9.67575771e+00] [-4.90534048e-03 2.73147699e-04 9.99987931e-01 -1.20974927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26439141799997 meters 0.055594124067746144 Centerline is valid? [True, True] Translation: X:195.57, Y:9.68, Z:-1.21 [[ 9.98185895e-01 -5.99152294e-02 5.92324264e-03 1.95565249e+02] [ 5.99160768e-02 9.98203417e-01 3.44509676e-05 9.68328257e+00] [-5.91466518e-03 3.20508991e-04 9.99982457e-01 -1.20997619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32439141799998 meters 0.057569615622786376 Centerline is valid? [True, True] Translation: X:195.62, Y:9.68, Z:-1.21 [[ 9.98485700e-01 -5.47756480e-02 5.09260171e-03 1.95624627e+02] [ 5.47762077e-02 9.98498656e-01 2.96219062e-05 9.67844247e+00] [-5.08657853e-03 2.49376359e-04 9.99987032e-01 -1.20988062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38439141799998 meters 0.05692547407693047 Centerline is valid? [True, True] Translation: X:195.69, Y:9.68, Z:-1.21 [[ 9.98791150e-01 -4.89707289e-02 4.25524235e-03 1.95685259e+02] [ 4.89710671e-02 9.98800197e-01 2.47399040e-05 9.68478481e+00] [-4.25134843e-03 1.83673762e-04 9.99990946e-01 -1.21012720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44439141799998 meters 0.05651575073423443 Centerline is valid? [True, True] Translation: X:195.75, Y:9.69, Z:-1.21 [[ 9.99003933e-01 -4.44547571e-02 3.86215739e-03 1.95745978e+02] [ 4.44550020e-02 9.99011387e-01 2.24697871e-05 9.68902273e+00] [-3.85933811e-03 1.49244809e-04 9.99992542e-01 -1.21075098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50439141799998 meters 0.0566900556884273 Centerline is valid? [True, True] Translation: X:195.81, Y:9.70, Z:-1.21 [[ 9.99353972e-01 -3.57198813e-02 3.96597902e-03 1.95806371e+02] [ 3.57200710e-02 9.99361834e-01 2.30259954e-05 9.69858889e+00] [-3.96427056e-03 1.18653932e-04 9.99992135e-01 -1.21014006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56439141799999 meters 0.056412129190485535 Centerline is valid? [True, True] Translation: X:195.87, Y:9.71, Z:-1.21 [[ 9.99570873e-01 -2.90492064e-02 3.76999283e-03 1.95866744e+02] [ 2.90493304e-02 9.99577979e-01 2.18909585e-05 9.70600155e+00] [-3.76903772e-03 8.76342025e-05 9.99992893e-01 -1.21022978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624391418 meters 0.056872389464919244 Centerline is valid? [True, True] Translation: X:195.93, Y:9.71, Z:-1.21 [[ 9.99782604e-01 -2.05100879e-02 3.75248834e-03 1.95926497e+02] [ 2.05101506e-02 9.99789645e-01 2.17924923e-05 9.70967090e+00] [-3.75214595e-03 5.51763462e-05 9.99992959e-01 -1.21018439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684391418 meters 0.05664804588900492 Centerline is valid? [True, True] Translation: X:195.99, Y:9.71, Z:-1.21 [[ 9.99858589e-01 -1.60520108e-02 5.01343853e-03 1.95987485e+02] [ 1.60520665e-02 9.99871157e-01 2.91339297e-05 9.71249744e+00] [-5.01326024e-03 5.13462389e-05 9.99987432e-01 -1.20892032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters 0.05652110388137847 Centerline is valid? [True, True] Translation: X:196.05, Y:9.71, Z:-1.21 [[ 9.99854614e-01 -1.59068947e-02 6.14179891e-03 1.96050482e+02] [ 1.59069763e-02 9.99873475e-01 3.55644072e-05 9.71450216e+00] [-6.14158754e-03 6.21382129e-05 9.99981138e-01 -1.20864267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters 0.057415604215343224 Centerline is valid? [True, True] Translation: X:196.11, Y:9.71, Z:-1.21 [[ 9.99804738e-01 -1.90866915e-02 5.11704663e-03 1.96111967e+02] [ 1.90867907e-02 9.99817830e-01 2.94476575e-05 9.71127157e+00] [-5.11667652e-03 6.82260907e-05 9.99986907e-01 -1.20928282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86439141799997 meters 0.05642040803272117 Centerline is valid? [True, True] Translation: X:196.17, Y:9.71, Z:-1.21 [[ 9.99709161e-01 -2.36382609e-02 4.77767762e-03 1.96173216e+02] [ 2.36384019e-02 9.99720574e-01 2.69449301e-05 9.70931529e+00] [-4.77697954e-03 8.59995705e-05 9.99988586e-01 -1.21037901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92439141799997 meters 0.05692904159323115 Centerline is valid? [True, True] Translation: X:196.23, Y:9.71, Z:-1.21 [[ 9.99458377e-01 -3.24600948e-02 5.41239461e-03 1.96234643e+02] [ 3.24604056e-02 9.99473022e-01 3.04262710e-05 9.70702476e+00] [-5.41053003e-03 1.45278733e-04 9.99985352e-01 -1.21106506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98439141799997 meters 0.0573244647647348 Centerline is valid? [True, True] Translation: X:196.30, Y:9.70, Z:-1.21 [[ 9.99226328e-01 -3.87952420e-02 6.45560129e-03 1.96295116e+02] [ 3.87958170e-02 9.99247158e-01 3.61830576e-05 9.69669979e+00] [-6.45214497e-03 2.14295263e-04 9.99979162e-01 -1.21078914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04439141799998 meters 0.056284659923548246 Centerline is valid? [True, True] Translation: X:196.36, Y:9.70, Z:-1.21 [[ 9.99131347e-01 -4.09906167e-02 7.50466728e-03 1.96355861e+02] [ 4.09914567e-02 9.99159496e-01 4.19157573e-05 9.70149022e+00] [-7.50007773e-03 2.65747897e-04 9.99971839e-01 -1.21115769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10439141799998 meters 0.056740535183685104 Centerline is valid? [True, True] Translation: X:196.42, Y:9.70, Z:-1.21 [[ 9.99137037e-01 -4.07919506e-02 7.82290173e-03 1.96418055e+02] [ 4.07928600e-02 9.99167624e-01 4.33385682e-05 9.69915541e+00] [-7.81815800e-03 2.75817367e-04 9.99969400e-01 -1.21147890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16439141799998 meters 0.056462271416368164 Centerline is valid? [True, True] Translation: X:196.48, Y:9.70, Z:-1.21 [[ 9.99206822e-01 -3.91356862e-02 7.35690166e-03 1.96479100e+02] [ 3.91364510e-02 9.99233875e-01 4.00340353e-05 9.70092373e+00] [-7.35283211e-03 2.47920740e-04 9.99972937e-01 -1.21176069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22439141799998 meters 0.05712826104238502 Centerline is valid? [True, True] Translation: X:196.54, Y:9.70, Z:-1.21 [[ 9.99313290e-01 -3.63476060e-02 7.19721350e-03 1.96539149e+02] [ 3.63482664e-02 9.99339183e-01 3.90703483e-05 9.69876920e+00] [-7.19387757e-03 2.22562715e-04 9.99974099e-01 -1.21261171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28439141799998 meters 0.05884512203722044 Centerline is valid? [True, True] Translation: X:196.60, Y:9.69, Z:-1.21 [[ 9.99359762e-01 -3.52265733e-02 6.25732809e-03 1.96600782e+02] [ 3.52270506e-02 9.99379334e-01 3.39610100e-05 9.69237041e+00] [-6.25464071e-03 1.86487946e-04 9.99980422e-01 -1.21428048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344391418 meters 0.05768979272143711 Centerline is valid? [True, True] Translation: X:196.66, Y:9.70, Z:-1.22 [[ 9.99324296e-01 -3.62853439e-02 5.85874359e-03 1.96662877e+02] [ 3.62857814e-02 9.99341454e-01 3.16356619e-05 9.69620120e+00] [-5.85603324e-03 1.80974804e-04 9.99982837e-01 -1.21570050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404391418 meters 0.05732850390022527 Centerline is valid? [True, True] Translation: X:196.73, Y:9.70, Z:-1.22 [[ 9.99298975e-01 -3.70413001e-02 5.43138111e-03 1.96725272e+02] [ 3.70416881e-02 9.99313721e-01 2.91803322e-05 9.69936277e+00] [-5.42873454e-03 1.72027649e-04 9.99985250e-01 -1.21654670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters 0.05582482804549966 Centerline is valid? [True, True] Translation: X:196.79, Y:9.71, Z:-1.22 [[ 9.99190185e-01 -3.99077123e-02 5.13313785e-03 1.96785813e+02] [ 3.99080974e-02 9.99203354e-01 2.74220819e-05 9.70958537e+00] [-5.13014291e-03 1.77453890e-04 9.99986825e-01 -1.21648408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters 0.05752537893910209 Centerline is valid? [True, True] Translation: X:196.85, Y:9.70, Z:-1.22 [[ 9.99031224e-01 -4.36024665e-02 5.95296845e-03 1.96845260e+02] [ 4.36030506e-02 9.99048934e-01 3.16870973e-05 9.69975916e+00] [-5.94868842e-03 2.27911185e-04 9.99982280e-01 -1.21688474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58439141799997 meters 0.05720582492602168 Centerline is valid? [True, True] Translation: X:196.91, Y:9.70, Z:-1.22 [[ 9.98916848e-01 -4.60978958e-02 6.33356140e-03 1.96906022e+02] [ 4.60986069e-02 9.98936894e-01 3.37513728e-05 9.70468603e+00] [-6.32838402e-03 2.58253542e-04 9.99979942e-01 -1.21757126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64439141799997 meters 0.05893219730052751 Centerline is valid? [True, True] Translation: X:196.97, Y:9.70, Z:-1.22 [[ 9.98801920e-01 -4.84757652e-02 6.69516060e-03 1.96966119e+02] [ 4.84766137e-02 9.98824317e-01 3.55894492e-05 9.69904839e+00] [-6.68901444e-03 2.89011904e-04 9.99977587e-01 -1.21731082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70439141799997 meters 0.058159520808609755 Centerline is valid? [True, True] Translation: X:197.03, Y:9.70, Z:-1.22 [[ 9.98765455e-01 -4.92122451e-02 6.76179086e-03 1.97028529e+02] [ 4.92131273e-02 9.98788299e-01 3.59461864e-05 9.70413656e+00] [-6.75536659e-03 2.96867065e-04 9.99977138e-01 -1.21710239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76439141799997 meters 0.05749669672529308 Centerline is valid? [True, True] Translation: X:197.09, Y:9.71, Z:-1.22 [[ 9.98810309e-01 -4.83325880e-02 6.47518271e-03 1.97089650e+02] [ 4.83333797e-02 9.98831259e-01 3.42401455e-05 9.71162743e+00] [-6.46926981e-03 2.78768055e-04 9.99979035e-01 -1.21796060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82439141799998 meters 0.058515174602813885 Centerline is valid? [True, True] Translation: X:197.15, Y:9.71, Z:-1.22 [[ 9.98882969e-01 -4.69054567e-02 5.71768685e-03 1.97150629e+02] [ 4.69060514e-02 9.98899305e-01 3.01155429e-05 9.71067592e+00] [-5.71280600e-03 2.38112210e-04 9.99983653e-01 -1.21902783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88439141799998 meters 0.057952295715571325 Centerline is valid? [True, True] Translation: X:197.21, Y:9.71, Z:-1.22 [[ 9.98956591e-01 -4.54491360e-02 4.48399291e-03 1.97211926e+02] [ 4.54494873e-02 9.98966638e-01 2.35669859e-05 9.71447195e+00] [-4.48043042e-03 1.80252783e-04 9.99989947e-01 -1.22020782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94439141799998 meters 0.055687486105070474 Centerline is valid? [True, True] Translation: X:197.27, Y:9.73, Z:-1.22 [[ 9.99101597e-01 -4.21831122e-02 4.07246012e-03 1.97272008e+02] [ 4.21833752e-02 9.99109885e-01 2.13414110e-05 9.73239166e+00] [-4.06973541e-03 1.50467875e-04 9.99991707e-01 -1.22029519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00439141799998 meters 0.05519766927693195 Centerline is valid? [True, True] Translation: X:197.33, Y:9.74, Z:-1.22 [[ 9.99282033e-01 -3.75559286e-02 4.99701915e-03 1.97332223e+02] [ 3.75562671e-02 9.99294514e-01 2.61163624e-05 9.74132679e+00] [-4.99447465e-03 1.61571774e-04 9.99987514e-01 -1.21942939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06439141799999 meters 0.05848111609085097 Centerline is valid? [True, True] Translation: X:197.39, Y:9.73, Z:-1.22 [[ 9.99398235e-01 -3.42756787e-02 5.32401009e-03 1.97391677e+02] [ 3.42760164e-02 9.99412404e-01 2.78213105e-05 9.72843370e+00] [-5.32183532e-03 1.54681289e-04 9.99985827e-01 -1.21931547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124391418 meters 0.05638077694065075 Centerline is valid? [True, True] Translation: X:197.45, Y:9.74, Z:-1.22 [[ 9.99508773e-01 -3.04968953e-02 7.22159519e-03 1.97452976e+02] [ 3.04974177e-02 9.99534845e-01 3.77943214e-05 9.74048609e+00] [-7.21938864e-03 1.82464249e-04 9.99973923e-01 -1.21828184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184391418 meters 0.056357442004806566 Centerline is valid? [True, True] Translation: X:197.51, Y:9.75, Z:-1.22 [[ 9.99583389e-01 -2.76827281e-02 8.16794715e-03 1.97514822e+02] [ 2.76833034e-02 9.99616743e-01 4.26382159e-05 9.74699697e+00] [-8.16599707e-03 1.83495307e-04 9.99966641e-01 -1.21869089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters 0.05573659038968002 Centerline is valid? [True, True] Translation: X:197.58, Y:9.75, Z:-1.22 [[ 9.99733177e-01 -2.14102095e-02 8.67048182e-03 1.97575276e+02] [ 2.14106233e-02 9.99770765e-01 4.51075216e-05 9.75330860e+00] [-8.66946001e-03 1.40544934e-04 9.99962410e-01 -1.21865070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters 0.05577889055237927 Centerline is valid? [True, True] Translation: X:197.64, Y:9.76, Z:-1.22 [[ 9.99838313e-01 -1.49926465e-02 9.92815148e-03 1.97636191e+02] [ 1.49928734e-02 9.99887599e-01 5.15770800e-05 9.75878081e+00] [-9.92780882e-03 9.72827776e-05 9.99950713e-01 -1.21880698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36439141799997 meters 0.05606731116846443 Centerline is valid? [True, True] Translation: X:197.70, Y:9.76, Z:-1.22 [[ 9.99883291e-01 -1.12649232e-02 1.03201537e-02 1.97697043e+02] [ 1.12649719e-02 9.99936547e-01 5.34071650e-05 9.76019102e+00] [-1.03201004e-02 6.28553095e-05 9.99946744e-01 -1.21824213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42439141799997 meters 0.05518843938459475 Centerline is valid? [True, True] Translation: X:197.76, Y:9.76, Z:-1.22 [[ 9.99912441e-01 -8.40431541e-03 1.02214556e-02 1.97759130e+02] [ 8.40421703e-03 9.99964683e-01 5.25781928e-05 9.76231651e+00] [-1.02215365e-02 3.33297418e-05 9.99947758e-01 -1.21844367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48439141799997 meters 0.05599769485288875 Centerline is valid? [True, True] Translation: X:197.82, Y:9.76, Z:-1.22 [[ 9.99921479e-01 -8.13283273e-03 9.53376898e-03 1.97820202e+02] [ 8.13273784e-03 9.99966928e-01 4.87232110e-05 9.76050708e+00] [-9.53384994e-03 2.88162585e-05 9.99954551e-01 -1.21848725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54439141799998 meters 0.055620863213071366 Centerline is valid? [True, True] Translation: X:197.88, Y:9.76, Z:-1.22 [[ 9.99906927e-01 -9.77506503e-03 9.51764086e-03 1.97882299e+02] [ 9.77504758e-03 9.99952222e-01 4.83534926e-05 9.75818374e+00] [-9.51765879e-03 4.46864001e-05 9.99954705e-01 -1.21932031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60439141799998 meters 0.05626396185009354 Centerline is valid? [True, True] Translation: X:197.94, Y:9.76, Z:-1.22 [[ 9.99888273e-01 -1.16771476e-02 9.33200816e-03 1.97944512e+02] [ 1.16772171e-02 9.99931818e-01 4.70399132e-05 9.75613310e+00] [-9.33192118e-03 6.19372275e-05 9.99956455e-01 -1.21978779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66439141799998 meters 0.05629876747692604 Centerline is valid? [True, True] Translation: X:198.01, Y:9.75, Z:-1.22 [[ 9.99834931e-01 -1.60719572e-02 8.47365433e-03 1.98005660e+02] [ 1.60721765e-02 9.99870833e-01 4.22257566e-05 9.74958328e+00] [-8.47323847e-03 9.39712812e-05 9.99964097e-01 -1.22060882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72439141799998 meters 0.05682003465095441 Centerline is valid? [True, True] Translation: X:198.07, Y:9.74, Z:-1.22 [[ 9.99753249e-01 -2.09061048e-02 7.50838048e-03 1.98065692e+02] [ 2.09064175e-02 9.99781436e-01 3.68457051e-05 9.74026813e+00] [-7.50750972e-03 1.20136724e-04 9.99971811e-01 -1.22170457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78439141799998 meters 0.05626156638154353 Centerline is valid? [True, True] Translation: X:198.13, Y:9.74, Z:-1.22 [[ 9.99676394e-01 -2.43723650e-02 7.28663069e-03 1.98126380e+02] [ 2.43727517e-02 9.99702940e-01 3.57310816e-05 9.73620392e+00] [-7.28533697e-03 1.41875722e-04 9.99973452e-01 -1.22215128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844391418 meters 0.05735867489118619 Centerline is valid? [True, True] Translation: X:198.19, Y:9.73, Z:-1.22 [[ 9.99539063e-01 -2.95757373e-02 6.85104014e-03 1.98186789e+02] [ 2.95762022e-02 9.99562528e-01 3.34744806e-05 9.72986485e+00] [-6.84903304e-03 1.69168698e-04 9.99976531e-01 -1.22323659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904391418 meters 0.05817577887729977 Centerline is valid? [True, True] Translation: X:198.25, Y:9.72, Z:-1.23 [[ 9.99333164e-01 -3.61430579e-02 5.18719248e-03 1.98246387e+02] [ 3.61434127e-02 9.99346613e-01 2.53560446e-05 9.71847363e+00] [-5.18471968e-03 1.62143702e-04 9.99986546e-01 -1.22535497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters 0.05946728623851777 Centerline is valid? [True, True] Translation: X:198.31, Y:9.71, Z:-1.23 [[ 9.99139511e-01 -4.12145910e-02 4.64709674e-03 1.98306368e+02] [ 4.12149314e-02 9.99150303e-01 2.25365404e-05 9.70708712e+00] [-4.64407696e-03 1.69012626e-04 9.99989202e-01 -1.22679381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters 0.056244432886763944 Centerline is valid? [True, True] Translation: X:198.37, Y:9.71, Z:-1.23 [[ 9.98839659e-01 -4.80321212e-02 3.50024235e-03 1.98366414e+02] [ 4.80323560e-02 9.98845780e-01 1.69918693e-05 9.71141918e+00] [-3.49701846e-03 1.51152734e-04 9.99993874e-01 -1.22811034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08439141799997 meters 0.060793565593209725 Centerline is valid? [True, True] Translation: X:198.43, Y:9.69, Z:-1.23 [[ 9.98646497e-01 -5.19885643e-02 1.53744884e-03 1.98426704e+02] [ 5.19886142e-02 9.98647678e-01 7.53258642e-06 9.69125302e+00] [-1.53576133e-03 7.24074438e-05 9.99998818e-01 -1.23115956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14439141799997 meters 0.056938118052212744 Centerline is valid? [True, True] Translation: X:198.49, Y:9.70, Z:-1.23 [[ 9.98356491e-01 -5.72978132e-02 -1.13068516e-03 1.98487127e+02] [ 5.72978438e-02 9.98357129e-01 -5.39285076e-06 9.69745947e+00] [ 1.12913659e-03 -5.94018343e-05 9.99999361e-01 -1.23286607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20439141799997 meters 0.060246542369517465 Centerline is valid? [True, True] Translation: X:198.55, Y:9.68, Z:-1.24 [[ 9.98250961e-01 -5.90637889e-02 -2.54702477e-03 1.98547375e+02] [ 5.90639493e-02 9.98254201e-01 -1.22632749e-05 9.68336637e+00] [ 2.54330249e-03 -1.38195516e-04 9.99996756e-01 -1.23567893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26439141799997 meters 0.05731769221169043 Centerline is valid? [True, True] Translation: X:198.61, Y:9.69, Z:-1.23 [[ 9.98339317e-01 -5.75903369e-02 -1.40018594e-03 1.98608308e+02] [ 5.75903841e-02 9.98340297e-01 -6.63005090e-06 9.69218686e+00] [ 1.39824387e-03 -7.40182056e-05 9.99999020e-01 -1.23419026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32439141799998 meters 0.058409295545639325 Centerline is valid? [True, True] Translation: X:198.67, Y:9.68, Z:-1.24 [[ 9.98569828e-01 -5.34615013e-02 -4.09199526e-04 1.98667963e+02] [ 5.34615050e-02 9.98569911e-01 -1.97187054e-06 9.68444569e+00] [ 4.08719754e-04 -1.99073721e-05 9.99999916e-01 -1.23555282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38439141799998 meters 0.05736625389014174 Centerline is valid? [True, True] Translation: X:198.73, Y:9.69, Z:-1.24 [[ 9.98882843e-01 -4.72390616e-02 1.24016999e-03 1.98728652e+02] [ 4.72390905e-02 9.98883611e-01 5.97377241e-06 9.68646129e+00] [-1.23906767e-03 5.26174037e-05 9.99999231e-01 -1.23559866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44439141799998 meters 0.05878553574765361 Centerline is valid? [True, True] Translation: X:198.79, Y:9.68, Z:-1.24 [[ 9.99228762e-01 -3.92336366e-02 1.61342441e-03 1.98788598e+02] [ 3.92336752e-02 9.99230063e-01 7.74469084e-06 9.68197081e+00] [-1.61248602e-03 5.55618513e-05 9.99998698e-01 -1.23666912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50439141799998 meters 0.05756250887355922 Centerline is valid? [True, True] Translation: X:198.85, Y:9.69, Z:-1.24 [[ 9.99649655e-01 -2.64594708e-02 6.81279626e-04 1.98849082e+02] [ 2.64594747e-02 9.99649887e-01 3.26818972e-06 9.68662810e+00] [-6.81127576e-04 1.47592563e-05 9.99999768e-01 -1.23792495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56439141799999 meters 0.05727636874998767 Centerline is valid? [True, True] Translation: X:198.91, Y:9.69, Z:-1.24 [[ 9.99880332e-01 -1.54389490e-02 -9.79739650e-04 1.98909592e+02] [ 1.54389518e-02 9.99880812e-01 -4.71093962e-06 9.69156102e+00] [ 9.79695609e-04 -1.04157773e-05 9.99999520e-01 -1.23916498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624391418 meters 0.057447899375080526 Centerline is valid? [True, True] Translation: X:198.97, Y:9.69, Z:-1.24 [[ 9.99947287e-01 -1.01594438e-02 -1.48608843e-03 1.98970613e+02] [ 1.01594446e-02 9.99948392e-01 -7.01903522e-06 9.69309095e+00] [ 1.48608304e-03 -8.07916789e-06 9.99998896e-01 -1.23961446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684391418 meters 0.05721672342201673 Centerline is valid? [True, True] Translation: X:199.03, Y:9.69, Z:-1.24 [[ 9.99985113e-01 -5.13669976e-03 -1.84055055e-03 1.99031876e+02] [ 5.13669248e-03 9.99986807e-01 -8.68346713e-06 9.69257331e+00] [ 1.84057087e-03 -7.71004297e-07 9.99998306e-01 -1.23943475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters 0.057836401770555164 Centerline is valid? [True, True] Translation: X:199.09, Y:9.69, Z:-1.24 [[ 9.99989633e-01 -4.37502433e-03 -1.26248719e-03 1.99092348e+02] [ 4.37502029e-03 9.99990430e-01 -5.96467399e-06 9.68896066e+00] [ 1.26250120e-03 4.41205104e-07 9.99999203e-01 -1.23565242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters 0.05753705943981607 Centerline is valid? [True, True] Translation: X:199.15, Y:9.69, Z:-1.24 [[ 9.99982285e-01 -5.94208334e-03 -3.49451385e-04 1.99152551e+02] [ 5.94208312e-03 9.99982346e-01 -1.65679352e-06 9.68569165e+00] [ 3.49455060e-04 -4.19705007e-07 9.99999939e-01 -1.23807050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86439141799997 meters 0.05818989347432721 Centerline is valid? [True, True] Translation: X:199.21, Y:9.68, Z:-1.24 [[ 9.99935864e-01 -1.13210108e-02 3.19819309e-04 1.99213967e+02] [ 1.13210108e-02 9.99935915e-01 1.62125710e-06 9.67939613e+00] [-3.19817168e-04 1.99952476e-06 9.99999949e-01 -1.23555799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92439141799997 meters 0.05851533677315172 Centerline is valid? [True, True] Translation: X:199.27, Y:9.67, Z:-1.24 [[ 9.99815678e-01 -1.91557207e-02 1.29158090e-03 1.99273916e+02] [ 1.91557285e-02 9.99816512e-01 6.30976971e-06 9.66885100e+00] [-1.29146478e-03 1.84325664e-05 9.99999166e-01 -1.23519402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98439141799997 meters 0.058208638450865935 Centerline is valid? [True, True] Translation: X:199.33, Y:9.67, Z:-1.23 [[ 9.99672958e-01 -2.54931916e-02 2.01842751e-03 1.99334704e+02] [ 2.54932243e-02 9.99674995e-01 9.56027020e-06 9.66578889e+00] [-2.01801524e-03 4.18990817e-05 9.99997963e-01 -1.23390488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04439141799998 meters 0.05944281578926616 Centerline is valid? [True, True] Translation: X:199.39, Y:9.66, Z:-1.23 [[ 9.99379985e-01 -3.51745324e-02 1.54851818e-03 1.99394309e+02] [ 3.51745632e-02 9.99381184e-01 7.30793236e-06 9.65558393e+00] [-1.54781698e-03 4.71650492e-05 9.99998801e-01 -1.23472089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10439141799998 meters 0.058013791487761514 Centerline is valid? [True, True] Translation: X:199.45, Y:9.66, Z:-1.23 [[ 9.99161232e-01 -4.09302403e-02 1.24424776e-03 1.99454563e+02] [ 4.09302647e-02 9.99162006e-01 5.86603358e-06 9.66001004e+00] [-1.24344518e-03 4.50662768e-05 9.99999226e-01 -1.23445712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16439141799998 meters 0.05810807076368275 Centerline is valid? [True, True] Translation: X:199.52, Y:9.66, Z:-1.23 [[ 9.98911074e-01 -4.66537958e-02 2.98386590e-04 1.99515397e+02] [ 4.66537975e-02 9.98911119e-01 1.42327457e-06 9.65840007e+00] [-2.98128083e-04 1.24991428e-05 9.99999955e-01 -1.23438159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22439141799998 meters 0.0651182828218641 Centerline is valid? [True, True] Translation: X:199.57, Y:9.63, Z:-1.24 [[ 9.98748916e-01 -5.00060129e-02 4.06415991e-05 1.99574687e+02] [ 5.00060129e-02 9.98748917e-01 1.49967532e-07 9.62661411e+00] [-4.05982524e-05 1.88254442e-06 9.99999999e-01 -1.23760156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28439141799998 meters 0.059118425256188774 Centerline is valid? [True, True] Translation: X:199.64, Y:9.65, Z:-1.23 [[ 9.98671694e-01 -5.15227338e-02 5.05577470e-04 1.99635735e+02] [ 5.15227392e-02 9.98671822e-01 2.45231755e-06 9.64625597e+00] [-5.05032323e-04 2.35996760e-05 9.99999872e-01 -1.23494446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344391418 meters 0.05839331227663153 Centerline is valid? [True, True] Translation: X:199.70, Y:9.65, Z:-1.23 [[ 9.98654092e-01 -5.18601054e-02 7.30266102e-04 1.99697767e+02] [ 5.18601166e-02 9.98654359e-01 3.57757677e-06 9.65161142e+00] [-7.29468959e-04 3.42989235e-05 9.99999733e-01 -1.23485407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404391418 meters 0.058913654178323324 Centerline is valid? [True, True] Translation: X:199.76, Y:9.65, Z:-1.24 [[ 9.98685549e-01 -5.12559617e-02 -5.61732474e-06 1.99759561e+02] [ 5.12559617e-02 9.98685549e-01 2.19399894e-07 9.65008970e+00] [ 5.59869540e-06 -5.07032881e-07 1.00000000e+00 -1.23559860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters 0.05873995514039164 Centerline is valid? [True, True] Translation: X:199.82, Y:9.66, Z:-1.24 [[ 9.98798145e-01 -4.90099651e-02 -5.37029671e-04 1.99819051e+02] [ 4.90099708e-02 9.98798289e-01 -2.51758266e-06 9.65520593e+00] [ 5.36507703e-04 -2.38052516e-05 9.99999856e-01 -1.23568084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters 0.05899670194470332 Centerline is valid? [True, True] Translation: X:199.88, Y:9.66, Z:-1.24 [[ 9.99041501e-01 -4.37620982e-02 9.78646012e-04 1.99880112e+02] [ 4.37621147e-02 9.99041980e-01 4.50974843e-06 9.65775837e+00] [-9.77905805e-04 3.83221932e-05 9.99999521e-01 -1.23500699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58439141799997 meters 0.059360347558866565 Centerline is valid? [True, True] Translation: X:199.94, Y:9.66, Z:-1.23 [[ 9.99270092e-01 -3.81383304e-02 2.17971992e-03 1.99939483e+02] [ 3.81383993e-02 9.99272467e-01 9.98006929e-06 9.66163345e+00] [-2.17851472e-03 7.31582438e-05 9.99997624e-01 -1.23436995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64439141799997 meters 0.059564232308492615 Centerline is valid? [True, True] Translation: X:200.00, Y:9.67, Z:-1.23 [[ 9.99552837e-01 -2.97096445e-02 3.38571267e-03 1.99999684e+02] [ 2.97097620e-02 9.99558567e-01 1.56086980e-05 9.67112835e+00] [-3.38468183e-03 8.49869992e-05 9.99994268e-01 -1.23358139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70439141799997 meters 0.05845576272083343 Centerline is valid? [True, True] Translation: X:200.06, Y:9.68, Z:-1.23 [[ 9.99674224e-01 -2.52156782e-02 3.95156350e-03 2.00059406e+02] [ 2.52158033e-02 9.99682031e-01 1.81573993e-05 9.67629660e+00] [-3.95076488e-03 8.14903639e-05 9.99992192e-01 -1.23426568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76439141799997 meters 0.05777736115096131 Centerline is valid? [True, True] Translation: X:200.12, Y:9.69, Z:-1.23 [[ 9.99752365e-01 -2.19540987e-02 3.63686193e-03 2.00120626e+02] [ 2.19541829e-02 9.99758978e-01 1.67705646e-05 9.68625304e+00] [-3.63635355e-03 6.30779206e-05 9.99993386e-01 -1.23453702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82439141799998 meters 0.058337260203079874 Centerline is valid? [True, True] Translation: X:200.18, Y:9.69, Z:-1.24 [[ 9.99732502e-01 -2.30144928e-02 2.29306438e-03 2.00182838e+02] [ 2.30145290e-02 9.99735131e-01 1.06034081e-05 9.68919522e+00] [-2.29270105e-03 4.21732252e-05 9.99997371e-01 -1.23523113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88439141799998 meters 0.05784674284197969 Centerline is valid? [True, True] Translation: X:200.24, Y:9.69, Z:-1.23 [[ 9.99672165e-01 -2.55465308e-02 1.71412851e-03 2.00244575e+02] [ 2.55465548e-02 9.99673633e-01 7.88742205e-06 9.69197302e+00] [-1.71377057e-03 3.59052416e-05 9.99998531e-01 -1.23492736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94439141799998 meters 0.05812463631585493 Centerline is valid? [True, True] Translation: X:200.30, Y:9.69, Z:-1.24 [[ 9.99521189e-01 -3.09283275e-02 9.11559455e-04 2.00304193e+02] [ 3.09283366e-02 9.99521605e-01 4.07736927e-06 9.68862032e+00] [-9.11249476e-04 2.41176007e-05 9.99999585e-01 -1.23630798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00439141799998 meters 0.05845907923664949 Centerline is valid? [True, True] Translation: X:200.37, Y:9.69, Z:-1.24 [[ 9.99408261e-01 -3.43905948e-02 6.43607391e-04 2.00365116e+02] [ 3.43906000e-02 9.99408468e-01 2.95252674e-06 9.68766666e+00] [-6.43328216e-04 1.91832647e-05 9.99999793e-01 -1.23731776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06439141799999 meters 0.05776181637183448 Centerline is valid? [True, True] Translation: X:200.43, Y:9.69, Z:-1.24 [[ 9.99264739e-01 -3.83300166e-02 8.89275185e-04 2.00425855e+02] [ 3.83300281e-02 9.99265134e-01 4.02746118e-06 9.69228899e+00] [-8.88776060e-04 3.00614429e-05 9.99999605e-01 -1.23652954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124391418 meters 0.05707731109356124 Centerline is valid? [True, True] Translation: X:200.49, Y:9.70, Z:-1.24 [[ 9.99153446e-01 -4.11115614e-02 1.49367426e-03 2.00486877e+02] [ 4.11115971e-02 9.99154561e-01 6.77084277e-06 9.69642094e+00] [-1.49268981e-03 5.46422235e-05 9.99998884e-01 -1.23520032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters 0.05696997915400897 Centerline is valid? [True, True] Translation: X:200.55, Y:9.70, Z:-1.23 [[ 9.99073793e-01 -4.29839015e-02 1.98495849e-03 2.00547968e+02] [ 4.29839684e-02 9.99075762e-01 8.96462048e-06 9.69780191e+00] [-1.98350925e-03 7.63650757e-05 9.99998030e-01 -1.23492786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters 0.057069664129716265 Centerline is valid? [True, True] Translation: X:200.61, Y:9.70, Z:-1.24 [[ 9.99034093e-01 -4.38859251e-02 2.21528372e-03 2.00609903e+02] [ 4.38860105e-02 9.99036545e-01 1.00763663e-05 9.69879431e+00] [-2.21359160e-03 8.71533311e-05 9.99997546e-01 -1.23546516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters 0.059107189868753726 Centerline is valid? [True, True] Translation: X:200.67, Y:9.69, Z:-1.24 [[ 9.98940011e-01 -4.59792935e-02 2.18131345e-03 2.00669667e+02] [ 4.59793817e-02 9.98942389e-01 9.72262498e-06 9.68850922e+00] [-2.17945351e-03 9.05831244e-05 9.99997621e-01 -1.23718047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36439141799997 meters 0.06193588808478468 Centerline is valid? [True, True] Translation: X:200.73, Y:9.68, Z:-1.24 [[ 9.98907036e-01 -4.67189541e-02 1.43978294e-03 2.00730812e+02] [ 4.67189931e-02 9.98908072e-01 6.52302544e-06 9.67764329e+00] [-1.43851555e-03 6.07493132e-05 9.99998963e-01 -1.23960160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42439141799997 meters 0.0582837841601441 Centerline is valid? [True, True] Translation: X:200.79, Y:9.70, Z:-1.24 [[ 9.98882266e-01 -4.72468545e-02 1.39767529e-03 2.00792584e+02] [ 4.72468917e-02 9.98883242e-01 6.37897097e-06 9.69584440e+00] [-1.39641581e-03 5.96639719e-05 9.99999023e-01 -1.23885539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48439141799997 meters 0.057090720563205515 Centerline is valid? [True, True] Translation: X:200.85, Y:9.70, Z:-1.24 [[ 9.98835871e-01 -4.82293522e-02 9.12234056e-04 2.00854177e+02] [ 4.82293685e-02 9.98836287e-01 4.13288593e-06 9.69974496e+00] [-9.11371804e-04 3.98683977e-05 9.99999584e-01 -1.23940244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54439141799998 meters 0.05676506565077933 Centerline is valid? [True, True] Translation: X:200.92, Y:9.71, Z:-1.24 [[ 9.98813933e-01 -4.86621266e-02 1.65038003e-03 2.00916428e+02] [ 4.86621807e-02 9.98815294e-01 7.35829566e-06 9.70515849e+00] [-1.64878289e-03 7.29615232e-05 9.99998638e-01 -1.23950992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60439141799998 meters 0.056700796817253735 Centerline is valid? [True, True] Translation: X:200.98, Y:9.71, Z:-1.24 [[ 9.98825478e-01 -4.84072129e-02 2.09904592e-03 2.00978571e+02] [ 4.84073002e-02 9.98827679e-01 9.23702962e-06 9.71204702e+00] [-2.09703230e-03 9.23829653e-05 9.99997797e-01 -1.23925660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66439141799998 meters 0.059231871354761406 Centerline is valid? [True, True] Translation: X:201.04, Y:9.70, Z:-1.24 [[ 9.98849828e-01 -4.79378337e-02 9.92666656e-04 2.01039907e+02] [ 4.79378526e-02 9.98850320e-01 4.81842239e-06 9.70092750e+00] [-9.91756392e-04 4.27734274e-05 9.99999507e-01 -1.24190807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72439141799998 meters 0.056791751081290774 Centerline is valid? [True, True] Translation: X:201.10, Y:9.71, Z:-1.24 [[ 9.98824051e-01 -4.84789854e-02 5.51424690e-04 2.01102294e+02] [ 4.84789914e-02 9.98824202e-01 2.49490147e-06 9.71205550e+00] [-5.50897277e-04 2.42405452e-05 9.99999848e-01 -1.24179732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78439141799998 meters 0.05656037878075904 Centerline is valid? [True, True] Translation: X:201.16, Y:9.72, Z:-1.24 [[ 9.98749428e-01 -4.99957964e-02 2.27126772e-05 2.01163282e+02] [ 4.99957964e-02 9.98749428e-01 1.44643322e-07 9.71838347e+00] [-2.26915050e-05 9.91075955e-07 1.00000000e+00 -1.24086224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844391418 meters 0.05648639653004021 Centerline is valid? [True, True] Translation: X:201.22, Y:9.72, Z:-1.24 [[ 9.98736215e-01 -5.02376796e-02 1.46603278e-03 2.01224451e+02] [ 5.02377239e-02 9.98737288e-01 6.57236782e-06 9.72081102e+00] [-1.46451179e-03 6.70860884e-05 9.99998925e-01 -1.23982822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904391418 meters 0.056232193191720764 Centerline is valid? [True, True] Translation: X:201.29, Y:9.72, Z:-1.24 [[ 9.98787232e-01 -4.91396689e-02 3.05913693e-03 2.01286375e+02] [ 4.91398607e-02 9.98791907e-01 1.24819437e-05 9.72449849e+00] [-3.05605457e-03 1.37858757e-04 9.99995321e-01 -1.23958797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters 0.05584385084828519 Centerline is valid? [True, True] Translation: X:201.35, Y:9.73, Z:-1.24 [[ 9.98978261e-01 -4.50146312e-02 4.01467114e-03 2.01346610e+02] [ 4.50149293e-02 9.98986314e-01 1.61067979e-05 9.73050946e+00] [-4.01132657e-03 1.64629797e-04 9.99991941e-01 -1.23885984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters 0.05662075701507428 Centerline is valid? [True, True] Translation: X:201.41, Y:9.73, Z:-1.24 [[ 9.99127368e-01 -4.15992887e-02 3.74190950e-03 2.01406096e+02] [ 4.15995238e-02 9.99134365e-01 1.50211977e-05 9.72808351e+00] [-3.73929525e-03 1.40653564e-04 9.99992999e-01 -1.23905386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08439141799997 meters 0.05678608940636557 Centerline is valid? [True, True] Translation: X:201.47, Y:9.73, Z:-1.24 [[ 9.99281187e-01 -3.78040565e-02 2.82165343e-03 2.01465783e+02] [ 3.78041751e-02 9.99285167e-01 1.12932502e-05 9.73183537e+00] [-2.82006335e-03 9.53851478e-05 9.99996019e-01 -1.24023307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14439141799997 meters 0.05941819985968267 Centerline is valid? [True, True] Translation: X:201.53, Y:9.72, Z:-1.24 [[ 9.99342114e-01 -3.62035000e-02 2.15519739e-03 2.01526402e+02] [ 3.62035651e-02 9.99344436e-01 8.83779315e-06 9.72429123e+00] [-2.15410448e-03 6.91938501e-05 9.99997678e-01 -1.24217000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20439141799997 meters 0.05638824197771262 Centerline is valid? [True, True] Translation: X:201.59, Y:9.74, Z:-1.24 [[ 9.99419419e-01 -3.40523276e-02 1.12454161e-03 2.01588000e+02] [ 3.40523439e-02 9.99420051e-01 4.65064735e-06 9.74301713e+00] [-1.12404780e-03 3.36453304e-05 9.99999368e-01 -1.24180491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26439141799997 meters 0.05645535600950795 Centerline is valid? [True, True] Translation: X:201.65, Y:9.75, Z:-1.24 [[ 9.99600819e-01 -2.82483076e-02 4.86147693e-04 2.01648733e+02] [ 2.82483100e-02 9.99600937e-01 1.91171649e-06 9.74847813e+00] [-4.86007692e-04 1.18218974e-05 9.99999882e-01 -1.24291239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32439141799998 meters 0.05686992080082 Centerline is valid? [True, True] Translation: X:201.71, Y:9.75, Z:-1.24 [[ 9.99745104e-01 -2.25635088e-02 7.83925284e-04 2.01708086e+02] [ 2.25635134e-02 9.99745412e-01 3.05179377e-06 9.74852205e+00] [-7.83794565e-04 1.46370928e-05 9.99999693e-01 -1.24409584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38439141799998 meters 0.05712797813486315 Centerline is valid? [True, True] Translation: X:201.77, Y:9.76, Z:-1.24 [[ 9.99904367e-01 -1.36875330e-02 1.97710491e-03 2.01768034e+02] [ 1.36875444e-02 9.99906321e-01 7.76203371e-06 9.75923799e+00] [-1.97702594e-03 1.93004198e-05 9.99998045e-01 -1.24100388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44439141799998 meters 0.05657925508036005 Centerline is valid? [True, True] Translation: X:201.83, Y:9.76, Z:-1.24 [[ 9.99956753e-01 -9.05535156e-03 2.11944234e-03 2.01830475e+02] [ 9.05535383e-03 9.99958999e-01 8.52474865e-06 9.75784442e+00] [-2.11943264e-03 1.06679204e-05 9.99997754e-01 -1.24322635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50439141799998 meters 0.0564238459332193 Centerline is valid? [True, True] Translation: X:201.89, Y:9.76, Z:-1.24 [[ 9.99977756e-01 -6.45467240e-03 1.68058253e-03 2.01893001e+02] [ 6.45467023e-03 9.99979168e-01 6.71407705e-06 9.75879726e+00] [-1.68059085e-03 4.13367830e-06 9.99998588e-01 -1.24398364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56439141799999 meters 0.05703005771840565 Centerline is valid? [True, True] Translation: X:201.96, Y:9.76, Z:-1.25 [[ 9.99964105e-01 -8.18943112e-03 2.17280139e-03 2.01955132e+02] [ 8.18943111e-03 9.99966466e-01 8.90128644e-06 9.75561874e+00] [-2.17280143e-03 8.89304039e-06 9.99997639e-01 -1.24533340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624391418 meters 0.05659239071272659 Centerline is valid? [True, True] Translation: X:202.02, Y:9.75, Z:-1.25 [[ 9.99942983e-01 -1.04239958e-02 2.31747871e-03 2.02016193e+02] [ 1.04240027e-02 9.99945669e-01 9.08071850e-06 9.75290890e+00] [-2.31744745e-03 1.50772036e-05 9.99997315e-01 -1.24535192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters 0.056593815310305357 Centerline is valid? [True, True] Translation: X:202.08, Y:9.75, Z:-1.25 [[ 9.99882736e-01 -1.51574829e-02 2.18300477e-03 2.02078467e+02] [ 1.51575013e-02 9.99885118e-01 8.11164106e-06 9.74776939e+00] [-2.18287693e-03 2.49782077e-05 9.99997617e-01 -1.24566801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters 0.05667088610181782 Centerline is valid? [True, True] Translation: X:202.14, Y:9.74, Z:-1.25 [[ 9.99805653e-01 -1.95827512e-02 2.27412534e-03 2.02139364e+02] [ 1.95827831e-02 9.99808239e-01 8.22857443e-06 9.74487544e+00] [-2.27385038e-03 3.63067280e-05 9.99997414e-01 -1.24505166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters 0.05637334306158296 Centerline is valid? [True, True] Translation: X:202.20, Y:9.74, Z:-1.25 [[ 9.99767192e-01 -2.13650792e-02 3.01587245e-03 2.02201422e+02] [ 2.13651432e-02 9.99771739e-01 1.10092664e-05 9.73871672e+00] [-3.01541926e-03 5.34278433e-05 9.99995452e-01 -1.24619381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86439141799997 meters 0.055975442745736674 Centerline is valid? [True, True] Translation: X:202.26, Y:9.74, Z:-1.25 [[ 9.99743857e-01 -2.21420036e-02 4.68531439e-03 2.02264031e+02] [ 2.21421687e-02 9.99754832e-01 1.66453446e-05 9.73752837e+00] [-4.68453427e-03 8.71019407e-05 9.99989024e-01 -1.24585953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92439141799997 meters 0.05649237114527047 Centerline is valid? [True, True] Translation: X:202.33, Y:9.74, Z:-1.25 [[ 9.99753793e-01 -2.15370203e-02 5.33942995e-03 2.02326182e+02] [ 2.15372271e-02 9.99768047e-01 1.87631919e-05 9.73674387e+00] [-5.33859556e-03 9.62379432e-05 9.99985745e-01 -1.24613433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98439141799997 meters 0.058103545252804596 Centerline is valid? [True, True] Translation: X:202.39, Y:9.73, Z:-1.25 [[ 9.99800492e-01 -1.94946027e-02 4.35155650e-03 2.02387354e+02] [ 1.94947213e-02 9.99809960e-01 1.51693210e-05 9.72783017e+00] [-4.35102525e-03 6.96660867e-05 9.99990532e-01 -1.24773988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04439141799998 meters 0.05711118406346386 Centerline is valid? [True, True] Translation: X:202.45, Y:9.73, Z:-1.25 [[ 9.99806656e-01 -1.88070017e-02 5.73992985e-03 2.02449179e+02] [ 1.88071977e-02 9.99823129e-01 1.98308268e-05 9.73036888e+00] [-5.73928758e-03 8.81250030e-05 9.99983526e-01 -1.24800600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10439141799998 meters 0.057507900685524756 Centerline is valid? [True, True] Translation: X:202.51, Y:9.73, Z:-1.25 [[ 9.99803029e-01 -1.91786441e-02 5.10720030e-03 2.02509872e+02] [ 1.91788053e-02 9.99816070e-01 1.74014704e-05 9.72596551e+00] [-5.10659467e-03 8.05519575e-05 9.99986958e-01 -1.24765782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16439141799998 meters 0.05768992221128241 Centerline is valid? [True, True] Translation: X:202.57, Y:9.72, Z:-1.25 [[ 9.99788613e-01 -2.01115173e-02 4.27266619e-03 2.02571127e+02] [ 2.01116398e-02 9.99797740e-01 1.43103038e-05 9.71973339e+00] [-4.27208981e-03 7.16230445e-05 9.99990872e-01 -1.24869066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22439141799998 meters 0.056900086214206426 Centerline is valid? [True, True] Translation: X:202.63, Y:9.72, Z:-1.25 [[ 9.99750010e-01 -2.18563013e-02 4.71376102e-03 2.02633254e+02] [ 2.18564703e-02 9.99761119e-01 1.56698162e-05 9.72225862e+00] [-4.71297748e-03 8.73602789e-05 9.99988890e-01 -1.24945184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28439141799998 meters 0.05757723532829518 Centerline is valid? [True, True] Translation: X:202.69, Y:9.71, Z:-1.25 [[ 9.99709347e-01 -2.38234797e-02 3.69652044e-03 2.02694471e+02] [ 2.38235974e-02 9.99716178e-01 1.21883673e-05 9.71441439e+00] [-3.69576165e-03 7.58795901e-05 9.99993168e-01 -1.25092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344391418 meters 0.058861783785731474 Centerline is valid? [True, True] Translation: X:202.76, Y:9.71, Z:-1.25 [[ 9.99666229e-01 -2.55835984e-02 3.59306054e-03 2.02756538e+02] [ 2.55837212e-02 9.99672683e-01 1.17794070e-05 9.71277199e+00] [-3.59218583e-03 8.01483839e-05 9.99993545e-01 -1.25103341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404391418 meters 0.058678036219252154 Centerline is valid? [True, True] Translation: X:202.82, Y:9.71, Z:-1.25 [[ 9.99550536e-01 -2.97158668e-02 3.96152559e-03 2.02816636e+02] [ 2.97160491e-02 9.99558381e-01 1.28294629e-05 9.71245560e+00] [-3.96015734e-03 1.04897192e-04 9.99992153e-01 -1.24910690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters 0.058717297981350496 Centerline is valid? [True, True] Translation: X:202.88, Y:9.70, Z:-1.25 [[ 9.99427504e-01 -3.35016657e-02 4.72247268e-03 2.02877468e+02] [ 3.35019679e-02 9.99438651e-01 1.51218623e-05 9.70258324e+00] [-4.72032834e-03 1.43098923e-04 9.99988849e-01 -1.24905089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters 0.05963705293431148 Centerline is valid? [True, True] Translation: X:202.94, Y:9.70, Z:-1.25 [[ 9.99181297e-01 -4.01332758e-02 5.10458523e-03 2.02938092e+02] [ 4.01337157e-02 9.99194318e-01 1.62852272e-05 9.70107841e+00] [-5.10112614e-03 1.88594078e-04 9.99986971e-01 -1.24839431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58439141799997 meters 0.057527059838522965 Centerline is valid? [True, True] Translation: X:203.00, Y:9.71, Z:-1.25 [[ 9.98915501e-01 -4.63005633e-02 4.90703276e-03 2.02999099e+02] [ 4.63010440e-02 9.98927531e-01 1.56445080e-05 9.70652951e+00] [-4.90249447e-03 2.11573198e-04 9.99987960e-01 -1.24857540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64439141799997 meters 0.056834966228408244 Centerline is valid? [True, True] Translation: X:203.06, Y:9.70, Z:-1.25 [[ 9.98508725e-01 -5.44218825e-02 4.31101060e-03 2.03059257e+02] [ 5.44223293e-02 9.98518007e-01 1.36950701e-05 9.70425309e+00] [-4.30536703e-03 2.20940592e-04 9.99990707e-01 -1.24906707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70439141799997 meters 0.057192020179558184 Centerline is valid? [True, True] Translation: X:203.12, Y:9.71, Z:-1.25 [[ 9.98258498e-01 -5.88114816e-02 4.60225685e-03 2.03119673e+02] [ 5.88120372e-02 9.98269074e-01 1.46243721e-05 9.71281448e+00] [-4.59515077e-03 2.56069198e-04 9.99989409e-01 -1.24902961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76439141799997 meters 0.057460550815074875 Centerline is valid? [True, True] Translation: X:203.18, Y:9.71, Z:-1.25 [[ 9.98144766e-01 -6.07999892e-02 3.22310184e-03 2.03179525e+02] [ 6.08002720e-02 9.98149952e-01 1.02504838e-05 9.70731835e+00] [-3.21776218e-03 1.85734002e-04 9.99994806e-01 -1.24908083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82439141799998 meters 0.05616818803206986 Centerline is valid? [True, True] Translation: X:203.24, Y:9.71, Z:-1.25 [[ 9.98237680e-01 -5.92979463e-02 2.29961599e-03 2.03240754e+02] [ 5.92980864e-02 9.98240320e-01 7.26440821e-06 9.71120286e+00] [-2.29600017e-03 1.29111222e-04 9.99997356e-01 -1.24943916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88439141799998 meters 0.05988632695554758 Centerline is valid? [True, True] Translation: X:203.30, Y:9.69, Z:-1.25 [[ 9.98481520e-01 -5.50706446e-02 1.37041072e-03 2.03300769e+02] [ 5.50706903e-02 9.98482458e-01 4.32904625e-06 9.69353049e+00] [-1.36856947e-03 7.11469918e-05 9.99999061e-01 -1.25119823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94439141799998 meters 0.05993625620706761 Centerline is valid? [True, True] Translation: X:203.36, Y:9.69, Z:-1.25 [[ 9.98684519e-01 -5.12484193e-02 1.68246801e-03 2.03360424e+02] [ 5.12484829e-02 9.98685933e-01 5.29022263e-06 9.69288250e+00] [-1.68052825e-03 8.09406697e-05 9.99998585e-01 -1.25097631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00439141799998 meters 0.06320833474255284 Centerline is valid? [True, True] Translation: X:203.42, Y:9.69, Z:-1.25 [[ 9.99024262e-01 -4.40917584e-02 2.53798202e-03 2.03420617e+02] [ 4.40918803e-02 9.99027480e-01 7.94465143e-06 9.68968435e+00] [-2.53586408e-03 1.03967500e-04 9.99996779e-01 -1.25104381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06439141799999 meters 0.05738627106778514 Centerline is valid? [True, True] Translation: X:203.48, Y:9.72, Z:-1.25 [[ 9.99340673e-01 -3.60154989e-02 4.59377778e-03 2.03481297e+02] [ 3.60158132e-02 9.99351220e-01 1.43134326e-05 9.71827838e+00] [-4.59131294e-03 1.51144647e-04 9.99989448e-01 -1.24956385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124391418 meters 0.05797992021320239 Centerline is valid? [True, True] Translation: X:203.54, Y:9.72, Z:-1.25 [[ 9.99548717e-01 -2.96896969e-02 4.56998418e-03 2.03541285e+02] [ 2.96899415e-02 9.99559156e-01 1.43183799e-05 9.71716809e+00] [-4.56839464e-03 1.21370645e-04 9.99989557e-01 -1.25012508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters 0.05710036615639148 Centerline is valid? [True, True] Translation: X:203.60, Y:9.73, Z:-1.25 [[ 9.99750633e-01 -2.16960241e-02 5.28714425e-03 2.03601761e+02] [ 2.16962397e-02 9.99764609e-01 1.65730671e-05 9.72911037e+00] [-5.28625928e-03 9.81422147e-05 9.99986023e-01 -1.25057887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters 0.05699258386854674 Centerline is valid? [True, True] Translation: X:203.66, Y:9.73, Z:-1.25 [[ 9.99839704e-01 -1.72336475e-02 4.85459836e-03 2.03662304e+02] [ 1.72337767e-02 9.99851487e-01 1.52127029e-05 9.73279726e+00] [-4.85413956e-03 6.84527999e-05 9.99988216e-01 -1.25158445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters 0.05742208003678746 Centerline is valid? [True, True] Translation: X:203.72, Y:9.74, Z:-1.25 [[ 9.99916250e-01 -1.21899647e-02 4.34720275e-03 2.03723961e+02] [ 1.21900209e-02 9.99925699e-01 1.35745182e-05 9.73950898e+00] [-4.34704522e-03 3.94191111e-05 9.99990551e-01 -1.25239524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36439141799997 meters 0.05734475961685015 Centerline is valid? [True, True] Translation: X:203.79, Y:9.74, Z:-1.25 [[ 9.99939036e-01 -1.00468849e-02 4.58093375e-03 2.03785959e+02] [ 1.00469253e-02 9.99949528e-01 1.41925680e-05 9.74240842e+00] [-4.58084514e-03 3.18325963e-05 9.99989507e-01 -1.25316715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42439141799997 meters 0.05633046344254194 Centerline is valid? [True, True] Translation: X:203.85, Y:9.75, Z:-1.25 [[ 9.99940033e-01 -9.31400630e-03 5.76022740e-03 2.03846957e+02] [ 9.31405947e-03 9.99956623e-01 1.75970863e-05 9.74728726e+00] [-5.76014143e-03 3.60550694e-05 9.99983410e-01 -1.25339097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48439141799997 meters 0.05648828689517055 Centerline is valid? [True, True] Translation: X:203.91, Y:9.74, Z:-1.25 [[ 9.99911241e-01 -1.11019234e-02 7.36598942e-03 2.03909178e+02] [ 1.11020609e-02 9.99938370e-01 2.22261617e-05 9.74396311e+00] [-7.36578221e-03 5.95534742e-05 9.99972870e-01 -1.25421456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54439141799998 meters 0.056387315386488786 Centerline is valid? [True, True] Translation: X:203.97, Y:9.74, Z:-1.25 [[ 9.99855948e-01 -1.53788715e-02 7.18141494e-03 2.03970552e+02] [ 1.53791156e-02 9.99881734e-01 2.12440634e-05 9.74155507e+00] [-7.18089233e-03 8.92028072e-05 9.99974213e-01 -1.25476067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60439141799998 meters 0.05668844199012059 Centerline is valid? [True, True] Translation: X:204.03, Y:9.74, Z:-1.26 [[ 9.99743662e-01 -2.15982354e-02 6.79168262e-03 2.04031224e+02] [ 2.15985994e-02 9.99766723e-01 1.97536122e-05 9.73714922e+00] [-6.79052492e-03 1.26942283e-04 9.99976936e-01 -1.25565093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66439141799998 meters 0.05697572115881 Centerline is valid? [True, True] Translation: X:204.09, Y:9.74, Z:-1.26 [[ 9.99650138e-01 -2.54579800e-02 7.17589889e-03 2.04092392e+02] [ 2.54584862e-02 9.99675880e-01 2.08056283e-05 9.73522155e+00] [-7.17410270e-03 1.61889174e-04 9.99974253e-01 -1.25670940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72439141799998 meters 0.05672289420031782 Centerline is valid? [True, True] Translation: X:204.15, Y:9.73, Z:-1.26 [[ 9.99565251e-01 -2.85127769e-02 7.50531278e-03 2.04153550e+02] [ 2.85134176e-02 9.99593410e-01 2.16494429e-05 9.73298710e+00] [-7.50287848e-03 1.92362086e-04 9.99971835e-01 -1.25791342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78439141799998 meters 0.05685447820979943 Centerline is valid? [True, True] Translation: X:204.22, Y:9.73, Z:-1.26 [[ 9.99567994e-01 -2.83310605e-02 7.82159641e-03 2.04215281e+02] [ 2.83317527e-02 9.99598575e-01 2.23141581e-05 9.72999364e+00] [-7.81908881e-03 1.99295017e-04 9.99969411e-01 -1.25834606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844391418 meters 0.05685251025359079 Centerline is valid? [True, True] Translation: X:204.28, Y:9.73, Z:-1.26 [[ 9.99634976e-01 -2.56953484e-02 8.34652010e-03 2.04275604e+02] [ 2.56960508e-02 9.99669802e-01 2.30934128e-05 9.72671247e+00] [-8.34435749e-03 1.91387621e-04 9.99965167e-01 -1.25888969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904391418 meters 0.056590168788669196 Centerline is valid? [True, True] Translation: X:204.34, Y:9.73, Z:-1.26 [[ 9.99716300e-01 -2.19655793e-02 9.21048607e-03 2.04335947e+02] [ 2.19662771e-02 9.99758712e-01 2.54047439e-05 9.72826718e+00] [-9.20882172e-03 1.76922552e-04 9.99957582e-01 -1.25969922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters 0.05617288269055318 Centerline is valid? [True, True] Translation: X:204.40, Y:9.73, Z:-1.26 [[ 9.99778367e-01 -1.88087365e-02 9.45768953e-03 2.04397591e+02] [ 1.88093323e-02 9.99823089e-01 2.59514744e-05 9.72924142e+00] [-9.45650448e-03 1.51947103e-04 9.99955275e-01 -1.26026452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters 0.05764625185618423 Centerline is valid? [True, True] Translation: X:204.46, Y:9.73, Z:-1.26 [[ 9.99794736e-01 -1.83001132e-02 8.69435246e-03 2.04458713e+02] [ 1.83005992e-02 9.99832530e-01 2.36551840e-05 9.72608987e+00] [-8.69332931e-03 1.35461532e-04 9.99962203e-01 -1.26033656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08439141799997 meters 0.05664141666007991 Centerline is valid? [True, True] Translation: X:204.52, Y:9.73, Z:-1.26 [[ 9.99771997e-01 -1.96804427e-02 8.28463202e-03 2.04521280e+02] [ 1.96809332e-02 9.99806311e-01 2.23237695e-05 9.72860805e+00] [-8.28346672e-03 1.40730610e-04 9.99965682e-01 -1.26304326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14439141799997 meters 0.05696878567267206 Centerline is valid? [True, True] Translation: X:204.58, Y:9.73, Z:-1.26 [[ 9.99738143e-01 -2.17283613e-02 7.17805068e-03 2.04582346e+02] [ 2.17287844e-02 9.99763902e-01 1.90403312e-05 9.72593219e+00] [-7.17676967e-03 1.36934970e-04 9.99974237e-01 -1.26459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20439141799997 meters 0.0560645940782373 Centerline is valid? [True, True] Translation: X:204.64, Y:9.73, Z:-1.27 [[ 9.99641561e-01 -2.60898587e-02 6.00566610e-03 2.04642892e+02] [ 2.60902368e-02 9.99659592e-01 1.53845596e-05 9.73192240e+00] [-6.00402310e-03 1.41310206e-04 9.99981966e-01 -1.26599771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26439141799997 meters 0.05664868828050543 Centerline is valid? [True, True] Translation: X:204.70, Y:9.73, Z:-1.27 [[ 9.99562264e-01 -2.88942295e-02 6.35644523e-03 2.04703698e+02] [ 2.88947101e-02 9.99582461e-01 1.62243323e-05 9.72586756e+00] [-6.35425995e-03 1.67450412e-04 9.99979797e-01 -1.26614517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32439141799998 meters 0.05816531084464503 Centerline is valid? [True, True] Translation: X:204.76, Y:9.72, Z:-1.27 [[ 9.99426240e-01 -3.30019398e-02 7.61993331e-03 2.04763101e+02] [ 3.30027507e-02 9.99455261e-01 1.93398271e-05 9.72106792e+00] [-7.61642068e-03 2.32150028e-04 9.99970968e-01 -1.26514863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38439141799998 meters 0.0556488833441016 Centerline is valid? [True, True] Translation: X:204.82, Y:9.73, Z:-1.27 [[ 9.99318945e-01 -3.58529906e-02 8.72978036e-03 2.04823881e+02] [ 3.58541635e-02 9.99357033e-01 2.21581890e-05 9.72969691e+00] [-8.72496183e-03 2.90855874e-04 9.99961894e-01 -1.26511898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44439141799998 meters 0.05548973507599131 Centerline is valid? [True, True] Translation: X:204.88, Y:9.73, Z:-1.27 [[ 9.99125922e-01 -4.07396944e-02 9.36318606e-03 2.04884902e+02] [ 4.07412596e-02 9.99169730e-01 2.35896551e-05 9.73274001e+00] [-9.35637313e-03 3.57898958e-04 9.99956164e-01 -1.26609876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50439141799998 meters 0.055888582611400506 Centerline is valid? [True, True] Translation: X:204.95, Y:9.74, Z:-1.27 [[ 9.98953709e-01 -4.50552773e-02 7.84277084e-03 2.04946268e+02] [ 4.50565093e-02 9.98984440e-01 1.96268758e-05 9.73575637e+00] [-7.83569033e-03 3.33761536e-04 9.99969245e-01 -1.26699919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56439141799999 meters 0.05537935750253611 Centerline is valid? [True, True] Translation: X:205.01, Y:9.73, Z:-1.27 [[ 9.98871675e-01 -4.69885320e-02 6.88878016e-03 2.05005934e+02] [ 4.69895290e-02 9.98895382e-01 1.71404236e-05 9.73438327e+00] [-6.88197609e-03 3.06579451e-04 9.99976272e-01 -1.26733101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624391418 meters 0.05827461363818648 Centerline is valid? [True, True] Translation: X:205.07, Y:9.73, Z:-1.27 [[ 9.98908144e-01 -4.64334634e-02 5.14320154e-03 2.05066816e+02] [ 4.64340121e-02 9.98921359e-01 1.27273788e-05 9.72965769e+00] [-5.13824485e-03 2.26106000e-04 9.99986774e-01 -1.26740056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters 0.05620558083656498 Centerline is valid? [True, True] Translation: X:205.13, Y:9.74, Z:-1.27 [[ 9.99001200e-01 -4.44202685e-02 4.84164177e-03 2.05127196e+02] [ 4.44207341e-02 9.99012912e-01 1.13916647e-05 9.74263315e+00] [-4.83736866e-03 2.03688995e-04 9.99988279e-01 -1.26816448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters 0.05522887260889943 Centerline is valid? [True, True] Translation: X:205.19, Y:9.76, Z:-1.27 [[ 9.99201517e-01 -3.97053929e-02 4.45090775e-03 2.05187860e+02] [ 3.97057397e-02 9.99211416e-01 1.04403403e-05 9.75662491e+00] [-4.44781237e-03 1.66294581e-04 9.99990095e-01 -1.26881413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80439141799997 meters 0.05637573531570401 Centerline is valid? [True, True] Translation: X:205.25, Y:9.75, Z:-1.27 [[ 9.99316208e-01 -3.67774030e-02 3.81309308e-03 2.05247367e+02] [ 3.67776361e-02 9.99323474e-01 8.97767839e-06 9.75311331e+00] [-3.81084360e-03 1.31265010e-04 9.99992730e-01 -1.26909838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86439141799997 meters 0.055210658616842524 Centerline is valid? [True, True] Translation: X:205.31, Y:9.77, Z:-1.27 [[ 9.99396679e-01 -3.45209896e-02 3.81819347e-03 2.05308096e+02] [ 3.45212076e-02 9.99403965e-01 8.82823366e-06 9.77035773e+00] [-3.81622246e-03 1.22985742e-04 9.99992711e-01 -1.26819652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92439141799997 meters 0.05514929466853505 Centerline is valid? [True, True] Translation: X:205.37, Y:9.78, Z:-1.27 [[ 9.99405504e-01 -3.43225691e-02 3.25583368e-03 2.05370529e+02] [ 3.43227265e-02 9.99410802e-01 7.53677245e-06 9.77707888e+00] [-3.25417403e-03 1.04216797e-04 9.99994700e-01 -1.26752151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98439141799997 meters 0.056467214275190296 Centerline is valid? [True, True] Translation: X:205.43, Y:9.78, Z:-1.27 [[ 9.99389900e-01 -3.47984413e-02 2.98270258e-03 2.05431193e+02] [ 3.47985759e-02 9.99394346e-01 6.77180056e-06 9.77970830e+00] [-2.98113175e-03 9.70261333e-05 9.99995552e-01 -1.26720201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04439141799998 meters 0.0568957558683372 Centerline is valid? [True, True] Translation: X:205.49, Y:9.78, Z:-1.27 [[ 9.99369459e-01 -3.53811727e-02 2.97614290e-03 2.05492391e+02] [ 3.53813090e-02 9.99373885e-01 6.83744706e-06 9.78049316e+00] [-2.97452141e-03 9.84666959e-05 9.99995571e-01 -1.26714525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10439141799998 meters 0.05601129754217198 Centerline is valid? [True, True] Translation: X:205.55, Y:9.79, Z:-1.27 [[ 9.99362076e-01 -3.55745600e-02 3.14517308e-03 2.05554407e+02] [ 3.55747141e-02 9.99367020e-01 6.96248177e-06 9.78957273e+00] [-3.14342994e-03 1.04930593e-04 9.99995054e-01 -1.26776101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16439141799998 meters 0.05588174517336118 Centerline is valid? [True, True] Translation: X:205.62, Y:9.80, Z:-1.27 [[ 9.99378217e-01 -3.51384633e-02 2.90997623e-03 2.05616989e+02] [ 3.51385937e-02 9.99382449e-01 6.32093704e-06 9.79765585e+00] [-2.90840128e-03 9.59354659e-05 9.99995766e-01 -1.26809796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22439141799998 meters 0.056015202989903826 Centerline is valid? [True, True] Translation: X:205.68, Y:9.80, Z:-1.27 [[ 9.99413932e-01 -3.41637391e-02 2.15217008e-03 2.05679359e+02] [ 3.41638080e-02 9.99416247e-01 4.76076548e-06 9.80091280e+00] [-2.15107639e-03 6.87683499e-05 9.99997684e-01 -1.26814033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28439141799998 meters 0.05509895351994384 Centerline is valid? [True, True] Translation: X:205.74, Y:9.81, Z:-1.27 [[ 9.99471061e-01 -3.24300186e-02 2.42744848e-03 2.05740936e+02] [ 3.24301018e-02 9.99474006e-01 5.09263136e-06 9.80833699e+00] [-2.42633681e-03 7.36324637e-05 9.99997054e-01 -1.26765529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344391418 meters 0.05704042409803071 Centerline is valid? [True, True] Translation: X:205.80, Y:9.80, Z:-1.27 [[ 9.99506464e-01 -3.13301607e-02 2.29120276e-03 2.05801900e+02] [ 3.13302315e-02 9.99509088e-01 4.99208995e-06 9.80299270e+00] [-2.29023438e-03 6.67942868e-05 9.99997375e-01 -1.26864497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404391418 meters 0.05543330877022761 Centerline is valid? [True, True] Translation: X:205.86, Y:9.81, Z:-1.27 [[ 9.99509957e-01 -3.12310538e-02 2.11339533e-03 2.05864501e+02] [ 3.12311146e-02 9.99512190e-01 4.24539388e-06 9.81059621e+00] [-2.11249698e-03 6.17603782e-05 9.99997767e-01 -1.26766675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters 0.05533228765547592 Centerline is valid? [True, True] Translation: X:205.93, Y:9.82, Z:-1.27 [[ 9.99439609e-01 -3.33792332e-02 2.50909318e-03 2.05925935e+02] [ 3.33793264e-02 9.99442755e-01 4.72489485e-06 9.81867346e+00] [-2.50785271e-03 7.90295932e-05 9.99996852e-01 -1.26567047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters 0.05451961970029014 Centerline is valid? [True, True] Translation: X:205.99, Y:9.82, Z:-1.27 [[ 9.99301140e-01 -3.73050196e-02 2.35967530e-03 2.05986113e+02] [ 3.73051132e-02 9.99303922e-01 4.35977955e-06 9.81940846e+00] [-2.35819543e-03 8.36712217e-05 9.99997216e-01 -1.26589936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58439141799997 meters 0.05468992276077459 Centerline is valid? [True, True] Translation: X:206.05, Y:9.81, Z:-1.27 [[ 9.99236939e-01 -3.90293792e-02 1.49877926e-03 2.06046705e+02] [ 3.90294189e-02 9.99238062e-01 2.79987636e-06 9.81394536e+00] [-1.49774656e-03 5.56987438e-05 9.99998877e-01 -1.26747953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64439141799997 meters 0.05543146344711004 Centerline is valid? [True, True] Translation: X:206.11, Y:9.81, Z:-1.27 [[ 9.99285342e-01 -3.77892554e-02 8.81550675e-04 2.06108173e+02] [ 3.77892685e-02 9.99285731e-01 1.69715844e-06 9.81473259e+00] [-8.80985144e-04 3.16172096e-05 9.99999611e-01 -1.26792998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70439141799997 meters 0.05518409049569684 Centerline is valid? [True, True] Translation: X:206.17, Y:9.82, Z:-1.27 [[ 9.99396993e-01 -3.46839152e-02 1.63602837e-03 2.06169034e+02] [ 3.46839567e-02 9.99398331e-01 2.99558507e-06 9.81922196e+00] [-1.63514792e-03 5.37501586e-05 9.99998662e-01 -1.26744141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76439141799997 meters 0.05473866785089954 Centerline is valid? [True, True] Translation: X:206.23, Y:9.82, Z:-1.27 [[ 9.99642672e-01 -2.65475946e-02 3.12301702e-03 2.06230017e+02] [ 2.65477063e-02 9.99647548e-01 5.68492721e-06 9.82434939e+00] [-3.12206723e-03 7.72260429e-05 9.99995123e-01 -1.26725614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82439141799998 meters 0.055055862389287155 Centerline is valid? [True, True] Translation: X:206.29, Y:9.83, Z:-1.27 [[ 9.99871547e-01 -1.56863968e-02 3.29026059e-03 2.06290783e+02] [ 1.56864620e-02 9.99876960e-01 5.99137269e-06 9.83098545e+00] [-3.28994974e-03 4.56219445e-05 9.99994587e-01 -1.26679155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88439141799998 meters 0.05515524295995651 Centerline is valid? [True, True] Translation: X:206.35, Y:9.83, Z:-1.27 [[ 9.99950331e-01 -9.52339835e-03 2.93930674e-03 2.06350936e+02] [ 9.52342373e-03 9.99954651e-01 5.36347909e-06 9.83218658e+00] [-2.93922453e-03 2.26290509e-05 9.99995680e-01 -1.26735509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94439141799998 meters 0.05533521117284691 Centerline is valid? [True, True] Translation: X:206.41, Y:9.83, Z:-1.27 [[ 9.99972847e-01 -6.79164738e-03 2.85989757e-03 2.06413431e+02] [ 6.79166022e-03 9.99976936e-01 5.22153353e-06 9.83362112e+00] [-2.85986707e-03 1.42020608e-05 9.99995910e-01 -1.26791340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00439141799998 meters 0.05530917416524491 Centerline is valid? [True, True] Translation: X:206.48, Y:9.84, Z:-1.27 [[ 9.99996102e-01 -9.52922868e-04 2.62452176e-03 2.06475822e+02] [ 9.52913730e-04 9.99999546e-01 4.73214087e-06 9.83587549e+00] [-2.62452508e-03 -2.23117960e-06 9.99996556e-01 -1.26823533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06439141799999 meters 0.05535569859794338 Centerline is valid? [True, True] Translation: X:206.54, Y:9.84, Z:-1.27 [[ 9.99997140e-01 1.69838472e-03 1.68369375e-03 2.06536735e+02] [-1.69839226e-03 9.99998558e-01 3.05070614e-06 9.83658039e+00] [-1.68368614e-03 -5.91026985e-06 9.99998583e-01 -1.26947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124391418 meters 0.056233916956468004 Centerline is valid? [True, True] Translation: X:206.60, Y:9.84, Z:-1.27 [[ 9.99997672e-01 1.77050605e-03 1.23313864e-03 2.06596824e+02] [-1.77050998e-03 9.99998433e-01 2.09391301e-06 9.83508496e+00] [-1.23313300e-03 -4.27719239e-06 9.99999240e-01 -1.26835361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters 0.05468812731577026 Centerline is valid? [True, True] Translation: X:206.66, Y:9.83, Z:-1.27 [[ 9.99999250e-01 -6.83700940e-04 1.01569559e-03 2.06656418e+02] [ 6.83699541e-04 9.99999766e-01 1.72468703e-06 9.83132656e+00] [-1.01569654e-03 -1.03025513e-06 9.99999484e-01 -1.27039086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters 0.05547872177406761 Centerline is valid? [True, True] Translation: X:206.72, Y:9.83, Z:-1.27 [[ 9.99992343e-01 -3.76536335e-03 1.06601827e-03 2.06717711e+02] [ 3.76536348e-03 9.99992911e-01 1.88532078e-06 9.82700043e+00] [-1.06601781e-03 2.12863993e-06 9.99999432e-01 -1.26973776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30439141799997 meters 0.05506059568828594 Centerline is valid? [True, True] Translation: X:206.78, Y:9.82, Z:-1.27 [[ 9.99934020e-01 -1.13869712e-02 1.51396218e-03 2.06779233e+02] [ 1.13869803e-02 9.99935166e-01 2.64876354e-06 9.81796450e+00] [-1.51389419e-03 1.45908687e-05 9.99998854e-01 -1.27048975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36439141799997 meters 0.055710334642442766 Centerline is valid? [True, True] Translation: X:206.84, Y:9.81, Z:-1.27 [[ 9.99850125e-01 -1.72637153e-02 1.30039220e-03 2.06840496e+02] [ 1.72637270e-02 9.99850971e-01 2.23021087e-06 9.81021362e+00] [-1.30023690e-03 2.02197392e-05 9.99999154e-01 -1.27116675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42439141799997 meters 0.05568208737262848 Centerline is valid? [True, True] Translation: X:206.90, Y:9.81, Z:-1.27 [[ 9.99635513e-01 -2.69947222e-02 3.54510695e-04 2.06900950e+02] [ 2.69947237e-02 9.99635576e-01 6.25273956e-07 9.80715199e+00] [-3.54398382e-04 8.94487221e-06 9.99999937e-01 -1.27103768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48439141799997 meters 0.05540316255815219 Centerline is valid? [True, True] Translation: X:206.96, Y:9.80, Z:-1.27 [[ 9.99307866e-01 -3.71869865e-02 9.57571805e-04 2.06961261e+02] [ 3.71870021e-02 9.99308324e-01 1.57842274e-06 9.80334373e+00] [-9.56968172e-04 3.40318944e-05 9.99999542e-01 -1.26978438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54439141799998 meters 0.05868569202894302 Centerline is valid? [True, True] Translation: X:207.02, Y:9.78, Z:-1.27 [[ 9.99088842e-01 -4.26369791e-02 1.89034378e-03 2.07020671e+02] [ 4.26370493e-02 9.99090628e-01 3.16540802e-06 9.78075120e+00] [-1.88875972e-03 7.74361570e-05 9.99998213e-01 -1.27119716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60439141799998 meters 0.05422980525142753 Centerline is valid? [True, True] Translation: X:207.08, Y:9.80, Z:-1.27 [[ 9.98807507e-01 -4.87981278e-02 1.51902249e-03 2.07080708e+02] [ 4.87981803e-02 9.98808659e-01 2.47721287e-06 9.80043943e+00] [-1.51733370e-03 7.16512747e-05 9.99998846e-01 -1.26892461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66439141799998 meters 0.05457342030490089 Centerline is valid? [True, True] Translation: X:207.14, Y:9.80, Z:-1.27 [[ 9.98680917e-01 -5.13435971e-02 5.10465350e-04 2.07140903e+02] [ 5.13436033e-02 9.98681047e-01 8.32552933e-07 9.79972744e+00] [-5.09834817e-04 2.53776757e-05 9.99999870e-01 -1.26961848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72439141799998 meters 0.05993204374726795 Centerline is valid? [True, True] Translation: X:207.20, Y:9.77, Z:-1.27 [[ 9.98637764e-01 -5.21758172e-02 -5.48434424e-04 2.07201666e+02] [ 5.21758248e-02 9.98637914e-01 -5.20259424e-07 9.76924694e+00] [ 5.47714554e-04 -2.80954677e-05 9.99999850e-01 -1.27412691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78439141799998 meters 0.06150916654395316 Centerline is valid? [True, True] Translation: X:207.26, Y:9.77, Z:-1.27 [[ 9.98728828e-01 -5.03976157e-02 -8.99436436e-04 2.07262592e+02] [ 5.03976348e-02 9.98729232e-01 -1.35068194e-06 9.76822390e+00] [ 8.98361532e-04 -4.39805041e-05 9.99999596e-01 -1.27469286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844391418 meters 0.058316185385953734 Centerline is valid? [True, True] Translation: X:207.32, Y:9.78, Z:-1.27 [[ 9.99051948e-01 -4.35218456e-02 -1.02657251e-03 2.07323110e+02] [ 4.35218669e-02 9.99052475e-01 -1.58725440e-06 9.77854510e+00] [ 1.02566888e-03 -4.30926024e-05 9.99999473e-01 -1.27383796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904391418 meters 0.05541474638353779 Centerline is valid? [True, True] Translation: X:207.38, Y:9.80, Z:-1.27 [[ 9.99452892e-01 -3.30736609e-02 2.24513878e-04 2.07383234e+02] [ 3.30736616e-02 9.99452917e-01 3.53531038e-07 9.79817192e+00] [-2.24402743e-04 7.07215844e-06 9.99999975e-01 -1.27132890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters 0.055979694824239055 Centerline is valid? [True, True] Translation: X:207.44, Y:9.80, Z:-1.27 [[ 9.99779946e-01 -2.09418060e-02 1.22481257e-03 2.07443316e+02] [ 2.09418193e-02 9.99780696e-01 1.92949162e-06 9.80396154e+00] [-1.22458437e-03 2.37207364e-05 9.99999250e-01 -1.27096716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters 0.056402125984188964 Centerline is valid? [True, True] Translation: X:207.50, Y:9.81, Z:-1.27 [[ 9.99909077e-01 -1.34508200e-02 9.56126478e-04 2.07504283e+02] [ 1.34508248e-02 9.99909534e-01 1.49195928e-06 9.80999801e+00] [-9.56060049e-04 1.13688661e-05 9.99999543e-01 -1.27041783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08439141799997 meters 0.05570478013181644 Centerline is valid? [True, True] Translation: X:207.56, Y:9.81, Z:-1.27 [[ 9.99992174e-01 -3.92882590e-03 4.65910392e-04 2.07564951e+02] [ 3.92882595e-03 9.99992282e-01 8.06856225e-07 9.81447355e+00] [-4.65909967e-04 1.02363093e-06 9.99999891e-01 -1.27166181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14439141799997 meters 0.056673404297630084 Centerline is valid? [True, True] Translation: X:207.63, Y:9.82, Z:-1.27 [[ 9.99999375e-01 9.87344270e-04 5.24221844e-04 2.07626482e+02] [-9.87344897e-04 9.99999513e-01 9.36912912e-07 9.81745536e+00] [-5.24220663e-04 -1.45450008e-06 9.99999863e-01 -1.27110638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20439141799997 meters 0.05658299995651697 Centerline is valid? [True, True] Translation: X:207.69, Y:9.82, Z:-1.27 [[ 9.99961011e-01 8.82894988e-03 -1.63020170e-04 2.07685658e+02] [-8.82895005e-03 9.99961024e-01 -3.48453710e-07 9.81705616e+00] [ 1.63010739e-04 1.78773706e-06 9.99999987e-01 -1.26865048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26439141799997 meters 0.0570211679270031 Centerline is valid? [True, True] Translation: X:207.75, Y:9.82, Z:-1.27 [[ 9.99903409e-01 1.38872785e-02 5.61440006e-04 2.07745192e+02] [-1.38872811e-02 9.99903567e-01 8.06350307e-07 9.82003152e+00] [-5.61374667e-04 -8.60314762e-06 9.99999842e-01 -1.26969526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32439141799998 meters 0.0575572235107112 Centerline is valid? [True, True] Translation: X:207.81, Y:9.82, Z:-1.27 [[ 9.99810763e-01 1.94201302e-02 1.13883935e-03 2.07805583e+02] [-1.94201447e-02 9.99811411e-01 1.73223945e-06 9.82430365e+00] [-1.13859094e-03 -2.38483367e-05 9.99999352e-01 -1.27085110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38439141799998 meters 0.057329350966226565 Centerline is valid? [True, True] Translation: X:207.86, Y:9.81, Z:-1.27 [[ 9.99815473e-01 1.92099012e-02 8.11523925e-06 2.07862940e+02] [-1.92099012e-02 9.99815473e-01 -2.81963944e-07 9.81351648e+00] [-8.11915836e-06 1.26018973e-07 1.00000000e+00 -1.26900281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44439141799998 meters 0.05650095621191744 Centerline is valid? [True, True] Translation: X:207.92, Y:9.81, Z:-1.27 [[ 9.99879432e-01 1.55273981e-02 -1.47164405e-04 2.07922546e+02] [-1.55273983e-02 9.99879443e-01 -3.34576976e-07 9.81340185e+00] [ 1.47141468e-04 2.61961697e-06 9.99999989e-01 -1.27159101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50439141799998 meters 0.056775394445801805 Centerline is valid? [True, True] Translation: X:207.98, Y:9.81, Z:-1.27 [[ 9.99978363e-01 6.48617297e-03 1.09717608e-03 2.07983003e+02] [-6.48617874e-03 9.99978965e-01 1.69988058e-06 9.80519877e+00] [-1.09714197e-03 -8.81632395e-06 9.99999398e-01 -1.27254365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56439141799999 meters 0.056368326392394585 Centerline is valid? [True, True] Translation: X:208.04, Y:9.80, Z:-1.27 [[ 9.99998865e-01 2.03811848e-04 1.49262451e-03 2.08042159e+02] [-2.03815574e-04 9.99999979e-01 2.34450516e-06 9.79824618e+00] [-1.49262400e-03 -2.64872261e-06 9.99998886e-01 -1.27328191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624391418 meters 0.05617365036658438 Centerline is valid? [True, True] Translation: X:208.10, Y:9.79, Z:-1.27 [[ 9.99959862e-01 -8.66295246e-03 2.28645435e-03 2.08103602e+02] [ 8.66296659e-03 9.99962476e-01 3.72605192e-06 9.78560175e+00] [-2.28640083e-03 1.60815753e-05 9.99997386e-01 -1.27371679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters 0.05648580512546309 Centerline is valid? [True, True] Translation: X:208.16, Y:9.77, Z:-1.27 [[ 9.99880241e-01 -1.52871344e-02 2.40986384e-03 2.08163347e+02] [ 1.52871693e-02 9.99883144e-01 3.96142292e-06 9.77240337e+00] [-2.40964279e-03 3.28790479e-05 9.99997096e-01 -1.27492431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters 0.05731155071648737 Centerline is valid? [True, True] Translation: X:208.23, Y:9.77, Z:-1.28 [[ 9.99833920e-01 -1.80214667e-02 2.71279282e-03 2.08225437e+02] [ 1.80215213e-02 9.99837599e-01 4.30460310e-06 9.76564378e+00] [-2.71242984e-03 4.45847655e-05 9.99996320e-01 -1.27569852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80439141799997 meters 0.05703994297132947 Centerline is valid? [True, True] Translation: X:208.29, Y:9.76, Z:-1.28 [[ 9.99801309e-01 -1.98270500e-02 2.05700383e-03 2.08286188e+02] [ 1.98270851e-02 9.99803424e-01 3.33655867e-06 9.75670295e+00] [-2.05666562e-03 3.74484942e-05 9.99997884e-01 -1.27668360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86439141799997 meters 0.05690152139722124 Centerline is valid? [True, True] Translation: X:208.35, Y:9.76, Z:-1.28 [[ 9.99796288e-01 -2.00366136e-02 2.43222145e-03 2.08347922e+02] [ 2.00366640e-02 9.99799246e-01 3.67231551e-06 9.75635704e+00] [-2.43180675e-03 4.50620364e-05 9.99997042e-01 -1.27710970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92439141799997 meters 0.057582662364224386 Centerline is valid? [True, True] Translation: X:208.41, Y:9.75, Z:-1.28 [[ 9.99846022e-01 -1.74728831e-02 1.62197112e-03 2.08408946e+02] [ 1.74729021e-02 9.99847337e-01 2.46109048e-06 9.75224527e+00] [-1.62176651e-03 2.58798311e-05 9.99998685e-01 -1.27820900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98439141799997 meters 0.05715279291454936 Centerline is valid? [True, True] Translation: X:208.47, Y:9.75, Z:-1.28 [[ 9.99897434e-01 -1.42214198e-02 1.69478438e-03 2.08470393e+02] [ 1.42214361e-02 9.99898870e-01 2.44874402e-06 9.75150253e+00] [-1.69464781e-03 2.16537749e-05 9.99998564e-01 -1.27825108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04439141799998 meters 0.05640349382617042 Centerline is valid? [True, True] Translation: X:208.53, Y:9.75, Z:-1.28 [[ 9.99960849e-01 -8.63352179e-03 1.93994789e-03 2.08532407e+02] [ 8.63353262e-03 9.99962730e-01 2.79320954e-06 9.74979871e+00] [-1.93989971e-03 1.39555032e-05 9.99998118e-01 -1.27775146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10439141799998 meters 0.0572364013708879 Centerline is valid? [True, True] Translation: X:208.59, Y:9.75, Z:-1.28 [[ 9.99992367e-01 -3.32943404e-03 2.04467911e-03 2.08593373e+02] [ 3.32943510e-03 9.99994457e-01 2.88371414e-06 9.74668740e+00] [-2.04467738e-03 3.92393426e-06 9.99997910e-01 -1.27778592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16439141799998 meters 0.05700500974333924 Centerline is valid? [True, True] Translation: X:208.66, Y:9.74, Z:-1.28 [[ 9.99998884e-01 -6.27416718e-04 1.35618981e-03 2.08655279e+02] [ 6.27414638e-04 9.99999803e-01 1.95908548e-06 9.74471822e+00] [-1.35619077e-03 -1.10818995e-06 9.99999080e-01 -1.27691695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22439141799998 meters 0.058172414391565154 Centerline is valid? [True, True] Translation: X:208.72, Y:9.74, Z:-1.27 [[ 9.99999801e-01 -1.20089352e-04 6.19024997e-04 2.08715942e+02] [ 1.20088849e-04 9.99999993e-01 8.49325013e-07 9.73734150e+00] [-6.19025094e-04 -7.74986840e-07 9.99999808e-01 -1.27489832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28439141799998 meters 0.05822764127875511 Centerline is valid? [True, True] Translation: X:208.78, Y:9.73, Z:-1.28 [[ 9.99994599e-01 -3.08078528e-03 1.14516096e-03 2.08776125e+02] [ 3.08078555e-03 9.99995254e-01 1.52316906e-06 9.72778210e+00] [-1.14516022e-03 2.00483451e-06 9.99999344e-01 -1.27788227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344391418 meters 0.05820960758344818 Centerline is valid? [True, True] Translation: X:208.84, Y:9.72, Z:-1.28 [[ 9.99984063e-01 -5.29463494e-03 1.95951939e-03 2.08837086e+02] [ 5.29463995e-03 9.99985983e-01 2.62800683e-06 9.72228908e+00] [-1.95950584e-03 7.74698471e-06 9.99998080e-01 -1.27681732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404391418 meters 0.05835691750453452 Centerline is valid? [True, True] Translation: X:208.90, Y:9.71, Z:-1.28 [[ 9.99966593e-01 -7.67924944e-03 2.80025406e-03 2.08898575e+02] [ 7.67926866e-03 9.99970514e-01 3.88994727e-06 9.71416119e+00] [-2.80020137e-03 1.76140860e-05 9.99996079e-01 -1.27640243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters 0.05829190294439161 Centerline is valid? [True, True] Translation: X:208.96, Y:9.71, Z:-1.28 [[ 9.99952461e-01 -9.21389625e-03 3.19065813e-03 2.08959545e+02] [ 9.21393047e-03 9.99957551e-01 3.97480484e-06 9.70956939e+00] [-3.19055932e-03 2.54238863e-05 9.99994910e-01 -1.27617132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters 0.058105093413087255 Centerline is valid? [True, True] Translation: X:209.02, Y:9.70, Z:-1.28 [[ 9.99924984e-01 -1.13553836e-02 4.59143056e-03 2.09021280e+02] [ 1.13554803e-02 9.99935524e-01 4.99908768e-06 9.69972999e+00] [-4.59119129e-03 4.71391868e-05 9.99989459e-01 -1.27738142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58439141799997 meters 0.05934571269374645 Centerline is valid? [True, True] Translation: X:209.08, Y:9.69, Z:-1.28 [[ 9.99914145e-01 -1.22114989e-02 4.75213656e-03 2.09082509e+02] [ 1.22116155e-02 9.99925435e-01 4.47884578e-06 9.69465487e+00] [-4.75183691e-03 5.35528032e-05 9.99988709e-01 -1.27789905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64439141799997 meters 0.058652560622193164 Centerline is valid? [True, True] Translation: X:209.14, Y:9.69, Z:-1.28 [[ 9.99906840e-01 -1.28968724e-02 4.47021847e-03 2.09143828e+02] [ 1.28969829e-02 9.99916830e-01 4.10844484e-06 9.69013944e+00] [-4.46989967e-03 5.35442691e-05 9.99990009e-01 -1.27841299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70439141799997 meters 0.05889334871678268 Centerline is valid? [True, True] Translation: X:209.21, Y:9.69, Z:-1.28 [[ 9.99916279e-01 -1.25767063e-02 3.04319289e-03 2.09206195e+02] [ 1.25767560e-02 9.99920909e-01 2.80948069e-06 9.68589944e+00] [-3.04298753e-03 3.54642490e-05 9.99995369e-01 -1.27981471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76439141799997 meters 0.058499820302648775 Centerline is valid? [True, True] Translation: X:209.27, Y:9.68, Z:-1.28 [[ 9.99916447e-01 -1.27031144e-02 2.39379846e-03 2.09268090e+02] [ 1.27031456e-02 9.99919312e-01 2.18577196e-06 9.68375122e+00] [-2.39363307e-03 2.82231810e-05 9.99997135e-01 -1.28151195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82439141799998 meters 0.05876184861292721 Centerline is valid? [True, True] Translation: X:209.33, Y:9.68, Z:-1.28 [[ 9.99908889e-01 -1.33221048e-02 2.17600894e-03 2.09329188e+02] [ 1.33221323e-02 9.99911256e-01 1.85366146e-06 9.68102263e+00] [-2.17584052e-03 2.71355863e-05 9.99997632e-01 -1.28171990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88439141799998 meters 0.05925592668757722 Centerline is valid? [True, True] Translation: X:209.39, Y:9.68, Z:-1.28 [[ 9.99890892e-01 -1.45131907e-02 2.75177212e-03 2.09390887e+02] [ 1.45132395e-02 9.99894677e-01 2.24976123e-06 9.67723491e+00] [-2.75151495e-03 3.76876120e-05 9.99996214e-01 -1.28311881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94439141799998 meters 0.05845217316861055 Centerline is valid? [True, True] Translation: X:209.45, Y:9.68, Z:-1.28 [[ 9.99860161e-01 -1.65046437e-02 2.69363210e-03 2.09452526e+02] [ 1.65046972e-02 9.99863788e-01 2.35919163e-06 9.68190139e+00] [-2.69330413e-03 4.20987205e-05 9.99996372e-01 -1.28222273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00439141799998 meters 0.05922369260208731 Centerline is valid? [True, True] Translation: X:209.51, Y:9.67, Z:-1.28 [[ 9.99813318e-01 -1.89046760e-02 3.99277757e-03 2.09514879e+02] [ 1.89048160e-02 9.99821288e-01 2.67942349e-06 9.67182596e+00] [-3.99211466e-03 7.28038019e-05 9.99992029e-01 -1.28389333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06439141799999 meters 0.05912665731313426 Centerline is valid? [True, True] Translation: X:209.58, Y:9.67, Z:-1.28 [[ 9.99679342e-01 -2.46817288e-02 5.65903589e-03 2.09575834e+02] [ 2.46821044e-02 9.99695350e-01 3.46311389e-06 9.66943928e+00] [-5.65739735e-03 1.36214911e-04 9.99983988e-01 -1.28304250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124391418 meters 0.05946631081438537 Centerline is valid? [True, True] Translation: X:209.64, Y:9.66, Z:-1.28 [[ 9.99559513e-01 -2.90233231e-02 6.19899101e-03 2.09635297e+02] [ 2.90238573e-02 9.99578719e-01 3.78282720e-06 9.66447559e+00] [-6.19648928e-03 1.76137470e-04 9.99980786e-01 -1.28388968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters 0.058995848474883324 Centerline is valid? [True, True] Translation: X:209.70, Y:9.67, Z:-1.29 [[ 9.99410954e-01 -3.38302704e-02 5.76687818e-03 2.09695686e+02] [ 3.38308129e-02 9.99427574e-01 3.47395072e-06 9.66557003e+00] [-5.76369460e-03 1.91626272e-04 9.99983371e-01 -1.28577982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters 0.060291126668671625 Centerline is valid? [True, True] Translation: X:209.76, Y:9.66, Z:-1.29 [[ 9.99384600e-01 -3.47253067e-02 4.95720080e-03 2.09756565e+02] [ 3.47257186e-02 9.99396880e-01 2.97212792e-06 9.65987701e+00] [-4.95431422e-03 1.69172061e-04 9.99987713e-01 -1.28622102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30439141799997 meters 0.061537140183650564 Centerline is valid? [True, True] Translation: X:209.82, Y:9.65, Z:-1.29 [[ 9.99392987e-01 -3.44576339e-02 5.13117767e-03 2.09818113e+02] [ 3.44580727e-02 9.99406144e-01 2.89942273e-06 9.65454302e+00] [-5.12823040e-03 1.73912830e-04 9.99986835e-01 -1.28630153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36439141799997 meters 0.06093086317312223 Centerline is valid? [True, True] Translation: X:209.88, Y:9.66, Z:-1.29 [[ 9.99441454e-01 -3.29292546e-02 5.69596309e-03 2.09879576e+02] [ 3.29297714e-02 9.99457668e-01 3.06730792e-06 9.65952176e+00] [-5.69297499e-03 1.84501168e-04 9.99983778e-01 -1.28567003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42439141799997 meters 0.05905178204859734 Centerline is valid? [True, True] Translation: X:209.94, Y:9.67, Z:-1.29 [[ 9.99466025e-01 -3.21644684e-02 5.75426103e-03 2.09942162e+02] [ 3.21649835e-02 9.99482573e-01 3.01779456e-06 9.66747110e+00] [-5.75138069e-03 1.82069528e-04 9.99983444e-01 -1.28760986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48439141799997 meters 0.05829129863818838 Centerline is valid? [True, True] Translation: X:210.00, Y:9.67, Z:-1.29 [[ 9.99428522e-01 -3.31583980e-02 6.56892885e-03 2.10004233e+02] [ 3.31590929e-02 9.99450086e-01 3.11936199e-06 9.67138697e+00] [-6.56541994e-03 2.14702143e-04 9.99978424e-01 -1.28900615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54439141799998 meters 0.06101929708626337 Centerline is valid? [True, True] Translation: X:210.06, Y:9.66, Z:-1.29 [[ 9.99364261e-01 -3.51240460e-02 6.11358677e-03 2.10064814e+02] [ 3.51246866e-02 9.99382938e-01 2.59737532e-06 9.66499200e+00] [-6.10990554e-03 2.12142095e-04 9.99981312e-01 -1.28979222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60439141799998 meters 0.05900569254241169 Centerline is valid? [True, True] Translation: X:210.13, Y:9.67, Z:-1.29 [[ 9.99343146e-01 -3.56410063e-02 6.55703802e-03 2.10127167e+02] [ 3.56417553e-02 9.99364631e-01 2.62977434e-06 9.67469032e+00] [-6.55296561e-03 2.31076298e-04 9.99978502e-01 -1.28976844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66439141799998 meters 0.06045491880679256 Centerline is valid? [True, True] Translation: X:210.19, Y:9.67, Z:-1.29 [[ 9.99363878e-01 -3.51557444e-02 5.99272368e-03 2.10188256e+02] [ 3.51563624e-02 9.99381824e-01 2.22575081e-06 9.67316052e+00] [-5.98909737e-03 2.08458030e-04 9.99982043e-01 -1.29040556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72439141799998 meters 0.061348884305712496 Centerline is valid? [True, True] Translation: X:210.25, Y:9.67, Z:-1.29 [[ 9.99455953e-01 -3.23637169e-02 6.35509608e-03 2.10247986e+02] [ 3.23643582e-02 9.99476137e-01 1.94506228e-06 9.67412451e+00] [-6.35182983e-03 2.03734602e-04 9.99979806e-01 -1.29133047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78439141799998 meters 0.05816358089051193 Centerline is valid? [True, True] Translation: X:210.31, Y:9.69, Z:-1.29 [[ 9.99489346e-01 -3.09673412e-02 7.87857637e-03 2.10309568e+02] [ 3.09682840e-02 9.99520368e-01 2.32452355e-06 9.68571689e+00] [-7.87486954e-03 2.41662654e-04 9.99968964e-01 -1.29222976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844391418 meters 0.059050705508625005 Centerline is valid? [True, True] Translation: X:210.37, Y:9.69, Z:-1.29 [[ 9.99678488e-01 -2.39149701e-02 8.42583232e-03 2.10369649e+02] [ 2.39157992e-02 9.99713976e-01 2.36386769e-06 9.69121181e+00] [-8.42347886e-03 1.99147406e-04 9.99964502e-01 -1.29279700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904391418 meters 0.05796461126146435 Centerline is valid? [True, True] Translation: X:210.43, Y:9.70, Z:-1.29 [[ 9.99805083e-01 -1.77512438e-02 8.64224899e-03 2.10428748e+02] [ 1.77518860e-02 9.99842423e-01 2.39823150e-06 9.69818515e+00] [-8.64092975e-03 1.51018455e-04 9.99962655e-01 -1.29386792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters 0.05770333299224358 Centerline is valid? [True, True] Translation: X:210.49, Y:9.71, Z:-1.30 [[ 9.99915172e-01 -8.94683976e-03 9.46587544e-03 2.10489447e+02] [ 8.94721546e-03 9.99959973e-01 2.65808044e-06 9.71218774e+00] [-9.46552033e-03 8.20353721e-05 9.99955198e-01 -1.29640597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters 0.057184739338247824 Centerline is valid? [True, True] Translation: X:210.55, Y:9.71, Z:-1.30 [[ 9.99936600e-01 -3.93714812e-03 1.05496832e-02 2.10550345e+02] [ 3.93733732e-03 9.99992249e-01 2.83473828e-06 9.71454772e+00] [-1.05496126e-02 3.87031029e-05 9.99944351e-01 -1.29685407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08439141799997 meters 0.057650808480815795 Centerline is valid? [True, True] Translation: X:210.61, Y:9.71, Z:-1.30 [[ 9.99930092e-01 -3.69106382e-03 1.12333293e-02 2.10612726e+02] [ 3.69126671e-03 9.99993187e-01 2.67181240e-06 9.71381912e+00] [-1.12332626e-02 3.87935888e-05 9.99936904e-01 -1.29600102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14439141799997 meters 0.057511956227187334 Centerline is valid? [True, True] Translation: X:210.68, Y:9.71, Z:-1.30 [[ 9.99918520e-01 -6.60476637e-03 1.09238318e-02 2.10675217e+02] [ 6.60514071e-03 9.99978186e-01 1.80964498e-06 9.71097836e+00] [-1.09236055e-02 7.03439489e-05 9.99940333e-01 -1.29841218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20439141799997 meters 0.05813860612930593 Centerline is valid? [True, True] Translation: X:210.74, Y:9.71, Z:-1.30 [[ 9.99903966e-01 -1.01634474e-02 9.42144624e-03 2.10736255e+02] [ 1.01638926e-02 9.99948346e-01 6.18664035e-07 9.70712378e+00] [-9.42096588e-03 9.51399634e-05 9.99955617e-01 -1.29965790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26439141799997 meters 0.05803335289697422 Centerline is valid? [True, True] Translation: X:210.80, Y:9.70, Z:-1.30 [[ 9.99840976e-01 -1.50857581e-02 9.51015160e-03 2.10797498e+02] [ 1.50864410e-02 9.99886193e-01 -6.33326072e-08 9.70133706e+00] [-9.50906833e-03 1.43537663e-04 9.99954777e-01 -1.30163565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32439141799998 meters 0.05767250385335854 Centerline is valid? [True, True] Translation: X:210.86, Y:9.70, Z:-1.30 [[ 9.99807161e-01 -1.65585288e-02 1.05572407e-02 2.10859465e+02] [ 1.65594553e-02 9.99862883e-01 -3.54123466e-07 9.70016840e+00] [-1.05557873e-02 1.75176211e-04 9.99944271e-01 -1.30287881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38439141799998 meters 0.05816478903673374 Centerline is valid? [True, True] Translation: X:210.92, Y:9.70, Z:-1.30 [[ 9.99826778e-01 -1.54356762e-02 1.03997342e-02 2.10920229e+02] [ 1.54365183e-02 9.99880850e-01 -6.96524964e-07 9.69829237e+00] [-1.03984843e-02 1.61232092e-04 9.99945921e-01 -1.30335406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44439141799998 meters 0.05686169240434546 Centerline is valid? [True, True] Translation: X:210.98, Y:9.70, Z:-1.31 [[ 9.99865456e-01 -1.24073224e-02 1.07297386e-02 2.10981322e+02] [ 1.24080475e-02 9.99923017e-01 -1.01412643e-06 9.69724619e+00] [-1.07289000e-02 1.34149096e-04 9.99942435e-01 -1.30508580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50439141799998 meters 0.05728274571589611 Centerline is valid? [True, True] Translation: X:211.04, Y:9.70, Z:-1.31 [[ 9.99887617e-01 -1.03263732e-02 1.08682690e-02 2.11043116e+02] [ 1.03269993e-02 9.99946675e-01 -1.48660267e-06 9.69733066e+00] [-1.08676741e-02 1.13723041e-04 9.99940939e-01 -1.30632641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56439141799999 meters 0.05669733144604925 Centerline is valid? [True, True] Translation: X:211.10, Y:9.70, Z:-1.31 [[ 9.99924128e-01 -7.20765008e-03 9.98940052e-03 2.11104680e+02] [ 7.20802782e-03 9.99974022e-01 -1.81183753e-06 9.69538396e+00] [-9.98912795e-03 7.38155769e-05 9.99950105e-01 -1.30619324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624391418 meters 0.0576189918048577 Centerline is valid? [True, True] Translation: X:211.17, Y:9.70, Z:-1.31 [[ 9.99942857e-01 -4.09697410e-03 9.87409569e-03 2.11166141e+02] [ 4.09719586e-03 9.99991606e-01 -2.23009699e-06 9.69548331e+00] [-9.87400367e-03 4.26860736e-05 9.99951250e-01 -1.30783399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters 0.05656893679917997 Centerline is valid? [True, True] Translation: X:211.23, Y:9.70, Z:-1.31 [[ 9.99951491e-01 -1.91233623e-03 9.66225348e-03 2.11228528e+02] [ 1.91245159e-03 9.99998171e-01 -2.70048329e-06 9.69540667e+00] [-9.66223065e-03 2.11789444e-05 9.99953319e-01 -1.30921017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters 0.05746067723145002 Centerline is valid? [True, True] Translation: X:211.29, Y:9.69, Z:-1.31 [[ 9.99948672e-01 -3.16830860e-05 1.01317523e-02 2.11290419e+02] [ 3.17178496e-05 1.00000000e+00 -3.27047175e-06 9.69417122e+00] [-1.01317522e-02 3.59166129e-06 9.99948672e-01 -1.31103896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80439141799997 meters 0.05730163285738098 Centerline is valid? [True, True] Translation: X:211.35, Y:9.69, Z:-1.31 [[ 9.99964117e-01 5.78662626e-04 8.45160764e-03 2.11351609e+02] [-5.78657951e-04 9.99999833e-01 -2.99844748e-06 9.69238548e+00] [-8.45160796e-03 -1.89225007e-06 9.99964285e-01 -1.31192697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86439141799997 meters 0.05720343555530161 Centerline is valid? [True, True] Translation: X:211.41, Y:9.69, Z:-1.31 [[ 9.99969283e-01 9.28028420e-04 7.78285614e-03 2.11414538e+02] [-9.28033306e-04 9.99999569e-01 -2.98363910e-06 9.68844564e+00] [-7.78285556e-03 -4.23920226e-06 9.99969713e-01 -1.31314949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92439141799997 meters 0.05702160815515781 Centerline is valid? [True, True] Translation: X:211.48, Y:9.69, Z:-1.31 [[ 9.99967470e-01 1.09654244e-03 7.99103231e-03 2.11476297e+02] [-1.09655002e-03 9.99999399e-01 -3.43334340e-06 9.68504144e+00] [-7.99103127e-03 -5.32933490e-06 9.99968071e-01 -1.31214799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98439141799997 meters 0.05714349973892546 Centerline is valid? [True, True] Translation: X:211.54, Y:9.68, Z:-1.31 [[ 9.99960945e-01 1.38567347e-03 8.72865246e-03 2.11538642e+02] [-1.38569036e-03 9.99999040e-01 -4.11263884e-06 9.68266646e+00] [-8.72864978e-03 -7.98273134e-06 9.99961905e-01 -1.31193220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04439141799998 meters 0.05684885962343207 Centerline is valid? [True, True] Translation: X:211.60, Y:9.68, Z:-1.31 [[ 9.99956140e-01 1.96657348e-04 9.36369174e-03 2.11602137e+02] [-1.96619251e-04 9.99999981e-01 -4.98919294e-06 9.67731536e+00] [-9.36369254e-03 3.14789207e-06 9.99956160e-01 -1.31221214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10439141799998 meters 0.057099033880060185 Centerline is valid? [True, True] Translation: X:211.66, Y:9.67, Z:-1.31 [[ 9.99958202e-01 -3.30257457e-03 8.52562805e-03 2.11663347e+02] [ 3.30273930e-03 9.99994546e-01 -5.24313680e-06 9.66992383e+00] [-8.52556424e-03 3.34008445e-05 9.99963656e-01 -1.31190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16439141799998 meters 0.0573936965494862 Centerline is valid? [True, True] Translation: X:211.72, Y:9.66, Z:-1.31 [[ 9.99917093e-01 -8.05315163e-03 1.00475975e-02 2.11724940e+02] [ 8.05362981e-03 9.99967569e-01 -7.13076827e-06 9.66492208e+00] [-1.00472143e-02 8.80498081e-05 9.99949522e-01 -1.31276948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22439141799998 meters 0.0579105071884152 Centerline is valid? [True, True] Translation: X:211.79, Y:9.66, Z:-1.31 [[ 9.99852603e-01 -1.44885330e-02 9.21170262e-03 2.11785467e+02] [ 1.44892145e-02 9.99895026e-01 -7.23655261e-06 9.65547354e+00] [-9.21063078e-03 1.40705821e-04 9.99957571e-01 -1.31255833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28439141799998 meters 0.05825648259570794 Centerline is valid? [True, True] Translation: X:211.85, Y:9.65, Z:-1.31 [[ 9.99811778e-01 -1.76948299e-02 7.95617270e-03 2.11846459e+02] [ 1.76954417e-02 9.99843423e-01 -6.49312511e-06 9.64788348e+00] [-7.95481205e-03 1.47279893e-04 9.99968349e-01 -1.31294646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344391418 meters 0.05842487009752372 Centerline is valid? [True, True] Translation: X:211.91, Y:9.65, Z:-1.31 [[ 9.99755470e-01 -2.08373179e-02 7.40319270e-03 2.11907095e+02] [ 2.08379380e-02 9.99782867e-01 -6.63453656e-06 9.64652371e+00] [-7.40144698e-03 1.60900185e-04 9.99972596e-01 -1.31392637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404391418 meters 0.05820818959055957 Centerline is valid? [True, True] Translation: X:211.97, Y:9.64, Z:-1.31 [[ 9.99749667e-01 -2.11308258e-02 7.35467858e-03 2.11968481e+02] [ 2.11314468e-02 9.99776706e-01 -6.72607891e-06 9.64409924e+00] [-7.35289420e-03 1.62139394e-04 9.99972954e-01 -1.31435140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters 0.05761582188225687 Centerline is valid? [True, True] Translation: X:212.03, Y:9.65, Z:-1.31 [[ 9.99754407e-01 -2.06878198e-02 7.94599649e-03 2.12031077e+02] [ 2.06885324e-02 9.99785969e-01 -7.49341048e-06 9.64575539e+00] [-7.94414079e-03 1.71882576e-04 9.99968430e-01 -1.31452054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52439141799996 meters 0.058261015452057995 Centerline is valid? [True, True] Translation: X:212.09, Y:9.64, Z:-1.31 [[ 9.99770049e-01 -2.01392618e-02 7.36609277e-03 2.12092655e+02] [ 2.01398609e-02 9.99797172e-01 -7.15551462e-06 9.63818374e+00] [-7.36445462e-03 1.55505953e-04 9.99972870e-01 -1.31458682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58439141799997 meters 0.058181467048136606 Centerline is valid? [True, True] Translation: X:212.15, Y:9.64, Z:-1.32 [[ 9.99753995e-01 -2.09624842e-02 7.24731278e-03 2.12154335e+02] [ 2.09630869e-02 9.99780250e-01 -7.20642531e-06 9.63971677e+00] [-7.24556912e-03 1.59130701e-04 9.99973738e-01 -1.31537865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64439141799997 meters 0.05841712030658113 Centerline is valid? [True, True] Translation: X:212.22, Y:9.64, Z:-1.32 [[ 9.99737702e-01 -2.17882409e-02 7.05694718e-03 2.12216767e+02] [ 2.17888342e-02 9.99762595e-01 -7.18796089e-06 9.63828690e+00] [-7.05511521e-03 1.60948728e-04 9.99975099e-01 -1.31601609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70439141799997 meters 0.05788772181737268 Centerline is valid? [True, True] Translation: X:212.28, Y:9.64, Z:-1.32 [[ 9.99624114e-01 -2.64064519e-02 7.37093638e-03 2.12277223e+02] [ 2.64072264e-02 9.99651268e-01 -7.75669624e-06 9.64268211e+00] [-7.36816108e-03 2.02399767e-04 9.99972834e-01 -1.31734288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76439141799997 meters 0.05781722536944684 Centerline is valid? [True, True] Translation: X:212.34, Y:9.64, Z:-1.32 [[ 9.99461153e-01 -3.18645438e-02 7.87743321e-03 2.12338341e+02] [ 3.18655986e-02 9.99492163e-01 -8.39287306e-06 9.64041673e+00] [-7.87316532e-03 2.59407475e-04 9.99968973e-01 -1.31748363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82439141799998 meters 0.06003489784882362 Centerline is valid? [True, True] Translation: X:212.40, Y:9.63, Z:-1.32 [[ 9.99410763e-01 -3.35829109e-02 7.09333684e-03 2.12398238e+02] [ 3.35838102e-02 9.99435905e-01 -7.66940860e-06 9.63090549e+00] [-7.08907797e-03 2.45886168e-04 9.99974842e-01 -1.31798336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88439141799998 meters 0.05944648649007421 Centerline is valid? [True, True] Translation: X:212.46, Y:9.63, Z:-1.32 [[ 9.99430340e-01 -3.30456299e-02 6.85439513e-03 2.12460242e+02] [ 3.30464572e-02 9.99453817e-01 -7.45465298e-06 9.63277405e+00] [-6.85040503e-03 2.33963882e-04 9.99976508e-01 -1.31857436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94439141799998 meters 0.05822085266679215 Centerline is valid? [True, True] Translation: X:212.52, Y:9.65, Z:-1.32 [[ 9.99567817e-01 -2.85925710e-02 6.82969752e-03 2.12521235e+02] [ 2.85932907e-02 9.99591128e-01 -7.73921596e-06 9.64710157e+00] [-6.82668377e-03 2.03019398e-04 9.99976677e-01 -1.31889421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00439141799998 meters 0.05841145974357991 Centerline is valid? [True, True] Translation: X:212.58, Y:9.65, Z:-1.32 [[ 9.99678045e-01 -2.42610604e-02 7.43021696e-03 2.12580502e+02] [ 2.42617930e-02 9.99705639e-01 -8.45785469e-06 9.64708987e+00] [-7.42782460e-03 1.88725518e-04 9.99972396e-01 -1.31887539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06439141799999 meters 0.05714558919797314 Centerline is valid? [True, True] Translation: X:212.64, Y:9.66, Z:-1.32 [[ 9.99834167e-01 -1.66580887e-02 7.35843540e-03 2.12640832e+02] [ 1.66586027e-02 9.99861236e-01 -8.55504848e-06 9.65805013e+00] [-7.35727180e-03 1.31134881e-04 9.99972926e-01 -1.31975895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124391418 meters 0.05712627120331273 Centerline is valid? [True, True] Translation: X:212.70, Y:9.67, Z:-1.32 [[ 9.99939484e-01 -8.98297381e-03 6.35089572e-03 2.12701988e+02] [ 8.98320201e-03 9.99959650e-01 -7.40639323e-06 9.66639381e+00] [-6.35057293e-03 6.44573242e-05 9.99979833e-01 -1.32124680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters 0.057777201719791074 Centerline is valid? [True, True] Translation: X:212.76, Y:9.67, Z:-1.32 [[ 9.99970982e-01 -4.01986300e-03 6.47118528e-03 2.12763060e+02] [ 4.01999677e-03 9.99991920e-01 -7.66517103e-06 9.67159387e+00] [-6.47110218e-03 3.36790926e-05 9.99979062e-01 -1.32184082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters 0.05683887357792259 Centerline is valid? [True, True] Translation: X:212.82, Y:9.68, Z:-1.32 [[ 9.99981576e-01 -4.30680686e-04 6.05497251e-03 2.12824620e+02] [ 4.30733150e-04 9.99999907e-01 -7.36062814e-06 9.67587743e+00] [-6.05496878e-03 9.96856992e-06 9.99981668e-01 -1.32203257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30439141799997 meters 0.05695794621411138 Centerline is valid? [True, True] Translation: X:212.89, Y:9.68, Z:-1.32 [[ 9.99984814e-01 1.95643417e-04 5.50752990e-03 2.12886525e+02] [-1.95607888e-04 9.99999981e-01 -6.98959853e-06 9.67871258e+00] [-5.50753116e-03 5.91217610e-06 9.99984833e-01 -1.32242206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36439141799997 meters 0.05754395438943535 Centerline is valid? [True, True] Translation: X:212.95, Y:9.68, Z:-1.32 [[ 9.99978781e-01 -3.88147482e-03 5.23187841e-03 2.12948330e+02] [ 3.88156348e-03 9.99992467e-01 -6.79361665e-06 9.67865807e+00] [-5.23181263e-03 2.71013407e-05 9.99986314e-01 -1.32229215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42439141799997 meters 0.05743976404814882 Centerline is valid? [True, True] Translation: X:213.01, Y:9.68, Z:-1.32 [[ 9.99943962e-01 -8.94700668e-03 5.65897796e-03 2.13009533e+02] [ 8.94719586e-03 9.99959973e-01 -8.11410538e-06 9.67639074e+00] [-5.65867885e-03 5.87456349e-05 9.99983988e-01 -1.32221757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48439141799997 meters 0.05784901657773677 Centerline is valid? [True, True] Translation: X:213.07, Y:9.67, Z:-1.32 [[ 9.99807559e-01 -1.87589817e-02 5.73976077e-03 2.13069255e+02] [ 1.87593419e-02 9.99824028e-01 -8.92213353e-06 9.66990169e+00] [-5.73858337e-03 1.16594551e-04 9.99983527e-01 -1.32184608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54439141799998 meters 0.057070850426015354 Centerline is valid? [True, True] Translation: X:213.13, Y:9.67, Z:-1.32 [[ 9.99648337e-01 -2.59780834e-02 5.32372348e-03 2.13129895e+02] [ 2.59784953e-02 9.99662502e-01 -8.22256960e-06 9.66934346e+00] [-5.32171312e-03 1.46522003e-04 9.99985829e-01 -1.32180384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60439141799998 meters 0.06057534330131036 Centerline is valid? [True, True] Translation: X:213.19, Y:9.66, Z:-1.32 [[ 9.99354341e-01 -3.56238997e-02 4.67318332e-03 2.13189539e+02] [ 3.56243228e-02 9.99365252e-01 -7.31728828e-06 9.65554414e+00] [-4.66995636e-03 1.73791555e-04 9.99989081e-01 -1.32223438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66439141799998 meters 0.06040584513555151 Centerline is valid? [True, True] Translation: X:213.25, Y:9.66, Z:-1.32 [[ 9.99027271e-01 -4.37446949e-02 5.56006059e-03 2.13249634e+02] [ 4.37454195e-02 9.99042711e-01 -8.70270419e-06 9.65611641e+00] [-5.55435731e-03 2.51921422e-04 9.99984543e-01 -1.32230676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72439141799998 meters 0.05704305449784127 Centerline is valid? [True, True] Translation: X:213.31, Y:9.67, Z:-1.32 [[ 9.98858174e-01 -4.74001476e-02 5.96435676e-03 2.13310668e+02] [ 4.74010465e-02 9.98875939e-01 -9.35316333e-06 9.66754863e+00] [-5.95720912e-03 2.92059236e-04 9.99982213e-01 -1.32289536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78439141799998 meters 0.057827489560802955 Centerline is valid? [True, True] Translation: X:213.37, Y:9.67, Z:-1.32 [[ 9.98774024e-01 -4.91729236e-02 5.69852162e-03 2.13371731e+02] [ 4.91737732e-02 9.98790238e-01 -9.00541985e-06 9.66529623e+00] [-5.69118495e-03 2.89212190e-04 9.99983763e-01 -1.32333086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844391418 meters 0.05879259237318822 Centerline is valid? [True, True] Translation: X:213.43, Y:9.66, Z:-1.32 [[ 9.98839387e-01 -4.80244434e-02 3.67869231e-03 2.13432457e+02] [ 4.80247898e-02 9.98846144e-01 -5.83932240e-06 9.66414127e+00] [-3.67416720e-03 1.82500970e-04 9.99993234e-01 -1.32441296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904391418 meters 0.05834489378065786 Centerline is valid? [True, True] Translation: X:213.49, Y:9.67, Z:-1.32 [[ 9.98908172e-01 -4.65812423e-02 3.55680542e-03 2.13493926e+02] [ 4.65815573e-02 9.98914490e-01 -5.70471272e-06 9.66647725e+00] [-3.55267874e-03 1.71380019e-04 9.99993675e-01 -1.32466306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters 0.05910907971538391 Centerline is valid? [True, True] Translation: X:213.55, Y:9.67, Z:-1.32 [[ 9.99046570e-01 -4.34785871e-02 3.94513318e-03 2.13553826e+02] [ 4.34789508e-02 9.99054343e-01 -6.43418390e-06 9.66973111e+00] [-3.94112269e-03 1.77958301e-04 9.99992218e-01 -1.32424115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02439141799996 meters 0.05888352977870537 Centerline is valid? [True, True] Translation: X:213.61, Y:9.68, Z:-1.32 [[ 9.99205337e-01 -3.97226771e-02 3.28675278e-03 2.13614532e+02] [ 3.97229092e-02 9.99210734e-01 -5.33835731e-06 9.68161396e+00] [-3.28394660e-03 1.35893497e-04 9.99994599e-01 -1.32428365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08439141799997 meters 0.058076215980501195 Centerline is valid? [True, True] Translation: X:213.68, Y:9.69, Z:-1.32 [[ 9.99291394e-01 -3.74695612e-02 3.56961770e-03 2.13675078e+02] [ 3.74698207e-02 9.99297760e-01 -5.84934779e-06 9.68595165e+00] [-3.56689180e-03 1.39598138e-04 9.99993629e-01 -1.32417114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14439141799997 meters 0.05899806796352025 Centerline is valid? [True, True] Translation: X:213.73, Y:9.69, Z:-1.32 [[ 9.99379476e-01 -3.49581897e-02 4.31133594e-03 2.13734600e+02] [ 3.49585451e-02 9.99388763e-01 -7.07881620e-06 9.68829640e+00] [-4.30845323e-03 1.57792456e-04 9.99990706e-01 -1.32299604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20439141799997 meters 0.057589840188771245 Centerline is valid? [True, True] Translation: X:213.80, Y:9.69, Z:-1.32 [[ 9.99406944e-01 -3.41774905e-02 4.20225612e-03 2.13797284e+02] [ 3.41778207e-02 9.99415768e-01 -6.77930977e-06 9.69322008e+00] [-4.19956933e-03 1.50399245e-04 9.99991170e-01 -1.32287888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26439141799997 meters 0.05895255186186557 Centerline is valid? [True, True] Translation: X:213.86, Y:9.69, Z:-1.32 [[ 9.99404637e-01 -3.42910901e-02 3.80683613e-03 2.13858231e+02] [ 3.42913626e-02 9.99411878e-01 -6.30531480e-06 9.69292258e+00] [-3.80438103e-03 1.36843159e-04 9.99992754e-01 -1.32389049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32439141799998 meters 0.05678901313381202 Centerline is valid? [True, True] Translation: X:213.92, Y:9.71, Z:-1.32 [[ 9.99355422e-01 -3.57233186e-02 3.54745808e-03 2.13920075e+02] [ 3.57235644e-02 9.99361710e-01 -5.94896338e-06 9.70666152e+00] [-3.54498126e-03 1.32672976e-04 9.99993708e-01 -1.32442894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38439141799998 meters 0.0565322209591728 Centerline is valid? [True, True] Translation: X:213.98, Y:9.71, Z:-1.32 [[ 9.99347457e-01 -3.60026841e-02 2.90988079e-03 2.13982125e+02] [ 3.60028507e-02 9.99351687e-01 -4.89722313e-06 9.71029135e+00] [-2.90781797e-03 1.09658031e-04 9.99995766e-01 -1.32483637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44439141799998 meters 0.05639714548001279 Centerline is valid? [True, True] Translation: X:214.04, Y:9.71, Z:-1.33 [[ 9.99433519e-01 -3.35330105e-02 2.85992226e-03 2.14042492e+02] [ 3.35331619e-02 9.99437605e-01 -5.00917928e-06 9.71477902e+00] [-2.85814589e-03 1.00908578e-04 9.99995910e-01 -1.32505175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50439141799998 meters 0.057870953381851976 Centerline is valid? [True, True] Translation: X:214.10, Y:9.71, Z:-1.33 [[ 9.99564904e-01 -2.92815439e-02 3.54885698e-03 2.14101602e+02] [ 2.92817504e-02 9.99571198e-01 -6.23559929e-06 9.71217047e+00] [-3.54715263e-03 1.10149630e-04 9.99993703e-01 -1.32550467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56439141799999 meters 0.05747194697889607 Centerline is valid? [True, True] Translation: X:214.16, Y:9.72, Z:-1.32 [[ 9.99703849e-01 -2.39552832e-02 4.28474813e-03 2.14161274e+02] [ 2.39555352e-02 9.99713025e-01 -7.48436141e-06 9.71718493e+00] [-4.28333923e-03 1.10125579e-04 9.99990820e-01 -1.32479671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624391418 meters 0.05732153073782019 Centerline is valid? [True, True] Translation: X:214.22, Y:9.72, Z:-1.32 [[ 9.99794414e-01 -1.96325533e-02 5.06883665e-03 2.14221942e+02] [ 1.96328500e-02 9.99807257e-01 -8.78889470e-06 9.72104985e+00] [-5.06768711e-03 1.08302798e-04 9.99987153e-01 -1.32420696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters 0.056234050574808174 Centerline is valid? [True, True] Translation: X:214.28, Y:9.73, Z:-1.33 [[ 9.99851799e-01 -1.65511192e-02 4.73719965e-03 2.14283885e+02] [ 1.65513439e-02 9.99863017e-01 -8.22006781e-06 9.72673718e+00] [-4.73641469e-03 8.66258700e-05 9.99988779e-01 -1.32538436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters 0.05638376806173092 Centerline is valid? [True, True] Translation: X:214.35, Y:9.73, Z:-1.33 [[ 9.99832858e-01 -1.81400086e-02 2.27951533e-03 2.14346366e+02] [ 1.81400647e-02 9.99835455e-01 -3.93071972e-06 9.72917149e+00] [-2.27906895e-03 4.52806183e-05 9.99997402e-01 -1.32773794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80439141799997 meters 0.05614385549660782 Centerline is valid? [True, True] Translation: X:214.41, Y:9.73, Z:-1.33 [[ 9.99775280e-01 -2.11870396e-02 7.06156805e-04 2.14407549e+02] [ 2.11870457e-02 9.99775529e-01 -1.18738250e-06 9.73437437e+00] [-7.05973136e-04 1.61484922e-05 9.99999751e-01 -1.32800650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86439141799997 meters 0.05582835996075676 Centerline is valid? [True, True] Translation: X:214.47, Y:9.73, Z:-1.33 [[ 9.99672029e-01 -2.56055342e-02 -4.37469621e-04 2.14468397e+02] [ 2.56055370e-02 9.99672125e-01 8.11726154e-07 9.73449115e+00] [ 4.37305400e-04 -1.20131045e-05 9.99999904e-01 -1.32805609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92439141799997 meters 0.05635456701610517 Centerline is valid? [True, True] Translation: X:214.53, Y:9.73, Z:-1.33 [[ 9.99626412e-01 -2.73319333e-02 -3.24120744e-05 2.14529748e+02] [ 2.73319333e-02 9.99626413e-01 2.10037701e-07 9.73050137e+00] [ 3.23942249e-05 -1.09584388e-06 9.99999999e-01 -1.32902048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98439141799997 meters 0.05641386024871823 Centerline is valid? [True, True] Translation: X:214.59, Y:9.73, Z:-1.33 [[ 9.99643092e-01 -2.67105754e-02 4.82752640e-04 2.14592341e+02] [ 2.67105789e-02 9.99643209e-01 -7.17158587e-07 9.73264550e+00] [-4.82561242e-04 1.36115051e-05 9.99999883e-01 -1.32850079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04439141799998 meters 0.05664764761881574 Centerline is valid? [True, True] Translation: X:214.65, Y:9.73, Z:-1.33 [[ 9.99746925e-01 -2.24778750e-02 9.11631860e-04 2.14652268e+02] [ 2.24778860e-02 9.99747340e-01 -1.74320791e-06 9.73392713e+00] [-9.11362344e-04 2.22343237e-05 9.99999584e-01 -1.32884692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10439141799998 meters 0.05602590144686781 Centerline is valid? [True, True] Translation: X:214.71, Y:9.74, Z:-1.33 [[ 9.99839368e-01 -1.78580991e-02 1.52497684e-03 2.14713156e+02] [ 1.78581242e-02 9.99840531e-01 -2.82834116e-06 9.74049724e+00] [-1.52468314e-03 3.00611126e-05 9.99998837e-01 -1.32754278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16439141799998 meters 0.056272260146211964 Centerline is valid? [True, True] Translation: X:214.77, Y:9.74, Z:-1.33 [[ 9.99957473e-01 -9.00541479e-03 1.98882453e-03 2.14773159e+02] [ 9.00544006e-03 9.99959450e-01 -3.75141826e-06 9.74176672e+00] [-1.98871010e-03 2.16614988e-05 9.99998022e-01 -1.32860410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22439141799998 meters 0.056307090553707605 Centerline is valid? [True, True] Translation: X:214.84, Y:9.75, Z:-1.33 [[ 9.99993616e-01 -3.18766186e-03 1.61466642e-03 2.14835060e+02] [ 3.18767087e-03 9.99994919e-01 -3.00603949e-06 9.74908012e+00] [-1.61464863e-03 8.15304540e-06 9.99998696e-01 -1.32813840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28439141799998 meters 0.05626919900339178 Centerline is valid? [True, True] Translation: X:214.90, Y:9.75, Z:-1.33 [[ 9.99987201e-01 4.93045082e-03 1.13520726e-03 2.14896172e+02] [-4.93045165e-03 9.99987845e-01 -2.07095693e-06 9.75319918e+00] [-1.13520367e-03 -3.52615407e-06 9.99999356e-01 -1.32911740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344391418 meters 0.05581215584122822 Centerline is valid? [True, True] Translation: X:214.96, Y:9.76, Z:-1.33 [[ 9.99952780e-01 9.66564861e-03 1.00698640e-03 2.14955084e+02] [-9.66565149e-03 9.99953287e-01 -2.01287865e-06 9.75618385e+00] [-1.00695882e-03 -7.72039604e-06 9.99999493e-01 -1.33006366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404391418 meters 0.0568803297340293 Centerline is valid? [True, True] Translation: X:215.01, Y:9.76, Z:-1.33 [[ 9.99946310e-01 1.03435166e-02 6.23017543e-04 2.15014117e+02] [-1.03435178e-02 9.99946504e-01 -1.36529703e-06 9.75637958e+00] [-6.22998336e-04 -5.07896930e-06 9.99999806e-01 -1.33096534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters 0.05623121617214225 Centerline is valid? [True, True] Translation: X:215.07, Y:9.75, Z:-1.33 [[ 9.99979646e-01 6.37804232e-03 1.64914542e-04 2.15072835e+02] [-6.37804233e-03 9.99979660e-01 -5.04555282e-07 9.75211995e+00] [-1.64914405e-04 -5.47286909e-07 9.99999986e-01 -1.33173282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52439141799996 meters 0.05599037465478553 Centerline is valid? [True, True] Translation: X:215.13, Y:9.74, Z:-1.33 [[ 9.99991765e-01 -4.05686598e-03 1.05210634e-04 2.15132694e+02] [ 4.05686603e-03 9.99991771e-01 -2.41485095e-07 9.74265679e+00] [-1.05208788e-04 6.68308557e-07 9.99999994e-01 -1.33198229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58439141799997 meters 0.05688795742874307 Centerline is valid? [True, True] Translation: X:215.19, Y:9.73, Z:-1.33 [[ 9.99909442e-01 -1.34223705e-02 9.73571446e-04 2.15192286e+02] [ 1.34223786e-02 9.99909916e-01 -1.77350516e-06 9.73454196e+00] [-9.73459938e-04 1.48409891e-05 9.99999526e-01 -1.33178456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64439141799997 meters 0.05653762229538857 Centerline is valid? [True, True] Translation: X:215.25, Y:9.72, Z:-1.33 [[ 9.99595788e-01 -2.82230643e-02 3.42322505e-03 2.15251497e+02] [ 2.82232511e-02 9.99601645e-01 -6.26257950e-06 9.72232786e+00] [-3.42168464e-03 1.02874588e-04 9.99994141e-01 -1.33153425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70439141799997 meters 0.05652640376213787 Centerline is valid? [True, True] Translation: X:215.31, Y:9.72, Z:-1.33 [[ 9.99156387e-01 -4.09155699e-02 3.52557383e-03 2.15312241e+02] [ 4.09158466e-02 9.99162596e-01 -6.37874070e-06 9.71606905e+00] [-3.52236051e-03 1.50625198e-04 9.99993785e-01 -1.33164602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76439141799997 meters 0.05875673684293829 Centerline is valid? [True, True] Translation: X:215.37, Y:9.71, Z:-1.33 [[ 9.98883546e-01 -4.70602327e-02 4.12258972e-03 2.15372384e+02] [ 4.70606634e-02 9.98892033e-01 -7.47458515e-06 9.70552367e+00] [-4.11767027e-03 2.01478047e-04 9.99991502e-01 -1.33257829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82439141799998 meters 0.060858116390927385 Centerline is valid? [True, True] Translation: X:215.43, Y:9.70, Z:-1.33 [[ 9.98643299e-01 -5.19595100e-02 3.43076446e-03 2.15431641e+02] [ 5.19598371e-02 9.98649175e-01 -6.22389539e-06 9.69593872e+00] [-3.42580671e-03 1.84477414e-04 9.99994115e-01 -1.33342493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88439141799998 meters 0.060009569412985034 Centerline is valid? [True, True] Translation: X:215.49, Y:9.70, Z:-1.33 [[ 9.98663723e-01 -5.14469231e-02 4.89726457e-03 2.15494422e+02] [ 5.14475834e-02 9.98675696e-01 -8.86667393e-06 9.69580714e+00] [-4.89032294e-03 2.60807253e-04 9.99988008e-01 -1.33374958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94439141799998 meters 0.06002516694122107 Centerline is valid? [True, True] Translation: X:215.55, Y:9.70, Z:-1.33 [[ 9.98817353e-01 -4.83904291e-02 4.71825819e-03 2.15554944e+02] [ 4.83910092e-02 9.98828469e-01 -8.79974138e-06 9.69718864e+00] [-4.71230478e-03 2.37110610e-04 9.99988869e-01 -1.33407684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00439141799998 meters 0.06021497302316016 Centerline is valid? [True, True] Translation: X:215.62, Y:9.70, Z:-1.34 [[ 9.99139232e-01 -4.13668732e-02 3.09454600e-03 2.15615135e+02] [ 4.13670892e-02 9.99144016e-01 -5.79666441e-06 9.70118748e+00] [-3.09165733e-03 1.33804035e-04 9.99995212e-01 -1.33539970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06439141799999 meters 0.059551516430546694 Centerline is valid? [True, True] Translation: X:215.68, Y:9.70, Z:-1.34 [[ 9.99331547e-01 -3.64156266e-02 3.21875731e-03 2.15675820e+02] [ 3.64158344e-02 9.99336724e-01 -5.96308015e-06 9.70249326e+00] [-3.21640523e-03 1.23172827e-04 9.99994820e-01 -1.33614480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124391418 meters 0.05810744724160453 Centerline is valid? [True, True] Translation: X:215.74, Y:9.71, Z:-1.34 [[ 9.99610710e-01 -2.77254552e-02 3.11891335e-03 2.15736811e+02] [ 2.77256083e-02 9.99615571e-01 -5.84788835e-06 9.70942833e+00] [-3.11755222e-03 9.23193819e-05 9.99995136e-01 -1.33600991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters 0.05758836539019919 Centerline is valid? [True, True] Translation: X:215.80, Y:9.72, Z:-1.34 [[ 9.99806305e-01 -1.92318910e-02 4.18162874e-03 2.15797230e+02] [ 1.92320921e-02 9.99815046e-01 -7.87923040e-06 9.71611491e+00] [-4.18070380e-03 8.82991732e-05 9.99991257e-01 -1.33540040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters 0.05706824477372925 Centerline is valid? [True, True] Translation: X:215.86, Y:9.72, Z:-1.34 [[ 9.99889684e-01 -1.40485741e-02 4.82260928e-03 2.15858306e+02] [ 1.40487812e-02 9.99901311e-01 -9.07830277e-06 9.71962357e+00] [-4.82200580e-03 7.68290840e-05 9.99988371e-01 -1.33532551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30439141799997 meters 0.056466213312759854 Centerline is valid? [True, True] Translation: X:215.92, Y:9.73, Z:-1.34 [[ 9.99962986e-01 -7.29281351e-03 4.56523540e-03 2.15918772e+02] [ 7.29292889e-03 9.99973406e-01 -8.62538137e-06 9.72733354e+00] [-4.56505109e-03 4.19189992e-05 9.99989579e-01 -1.33663297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36439141799997 meters 0.05581460249342214 Centerline is valid? [True, True] Translation: X:215.98, Y:9.73, Z:-1.34 [[ 9.99991816e-01 -1.77943133e-03 3.63349916e-03 2.15980613e+02] [ 1.77946795e-03 9.99998417e-01 -6.84359307e-06 9.73004279e+00] [-3.63348123e-03 1.33092324e-05 9.99993399e-01 -1.33752931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42439141799997 meters 0.056610202571976125 Centerline is valid? [True, True] Translation: X:216.04, Y:9.73, Z:-1.34 [[ 9.99993754e-01 7.58429201e-04 3.45198762e-03 2.16042097e+02] [-7.58411288e-04 9.99999712e-01 -6.49821712e-06 9.72974240e+00] [-3.45199155e-03 3.88015017e-06 9.99994042e-01 -1.33749800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48439141799997 meters 0.056002241708458474 Centerline is valid? [True, True] Translation: X:216.10, Y:9.73, Z:-1.34 [[ 9.99991631e-01 2.42742693e-03 3.29311690e-03 2.16103378e+02] [-2.42741879e-03 9.99997054e-01 -6.46756270e-06 9.72779263e+00] [-3.29312290e-03 -1.52626527e-06 9.99994578e-01 -1.33757159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54439141799998 meters 0.05679244833961686 Centerline is valid? [True, True] Translation: X:216.16, Y:9.73, Z:-1.34 [[ 9.99984480e-01 3.01260547e-03 4.68653994e-03 2.16163428e+02] [-3.01259453e-03 9.99995462e-01 -9.39476625e-06 9.72503820e+00] [-4.68654698e-03 -4.72402412e-06 9.99989018e-01 -1.33781321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60439141799998 meters 0.056296382130774036 Centerline is valid? [True, True] Translation: X:216.22, Y:9.72, Z:-1.34 [[ 9.99983461e-01 2.77527799e-03 5.03748977e-03 2.16224958e+02] [-2.77526261e-03 9.99996149e-01 -1.00439178e-05 9.71972375e+00] [-5.03749824e-03 -3.93660535e-06 9.99987312e-01 -1.33732441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66439141799998 meters 0.05639185682442444 Centerline is valid? [True, True] Translation: X:216.29, Y:9.71, Z:-1.34 [[ 9.99989306e-01 4.97835896e-04 4.59773689e-03 2.16286101e+02] [-4.97796879e-04 9.99999876e-01 -9.63052068e-06 9.71239822e+00] [-4.59774112e-03 7.34167863e-06 9.99989430e-01 -1.33767169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72439141799998 meters 0.056521153247172155 Centerline is valid? [True, True] Translation: X:216.35, Y:9.71, Z:-1.34 [[ 9.99986491e-01 -2.29648363e-03 4.66313785e-03 2.16347835e+02] [ 2.29655654e-03 9.99997363e-01 -1.02802655e-05 9.70559272e+00] [-4.66310194e-03 2.09892863e-05 9.99989127e-01 -1.33868934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78439141799998 meters 0.05684470535369491 Centerline is valid? [True, True] Translation: X:216.41, Y:9.70, Z:-1.34 [[ 9.99973930e-01 -5.86895059e-03 4.20641361e-03 2.16409511e+02] [ 5.86904337e-03 9.99982777e-01 -9.71343219e-06 9.69736519e+00] [-4.20628415e-03 3.44008029e-05 9.99991153e-01 -1.33961066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844391418 meters 0.057006989592842554 Centerline is valid? [True, True] Translation: X:216.47, Y:9.69, Z:-1.34 [[ 9.99968584e-01 -7.20063666e-03 3.31379597e-03 2.16471690e+02] [ 7.20070224e-03 9.99974075e-01 -7.85946254e-06 9.69003856e+00] [-3.31365347e-03 3.17208737e-05 9.99994509e-01 -1.34062522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904391418 meters 0.057031397887012454 Centerline is valid? [True, True] Translation: X:216.53, Y:9.69, Z:-1.34 [[ 9.99972442e-01 -6.67960397e-03 3.23995301e-03 2.16532552e+02] [ 6.67966596e-03 9.99977691e-01 -8.31165073e-06 9.68572758e+00] [-3.23982521e-03 2.99532255e-05 9.99994751e-01 -1.34111601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters 0.05767534065127337 Centerline is valid? [True, True] Translation: X:216.59, Y:9.68, Z:-1.34 [[ 9.99981154e-01 -5.17806014e-03 3.29824833e-03 2.16593546e+02] [ 5.17811619e-03 9.99986593e-01 -8.45679511e-06 9.68077229e+00] [-3.29816032e-03 2.55353488e-05 9.99994561e-01 -1.34169297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02439141799996 meters 0.057069324248725246 Centerline is valid? [True, True] Translation: X:216.65, Y:9.68, Z:-1.34 [[ 9.99985481e-01 -4.25970985e-03 3.30036487e-03 2.16654681e+02] [ 4.25976193e-03 9.99990927e-01 -8.74963283e-06 9.67856348e+00] [-3.30029766e-03 2.28082744e-05 9.99994554e-01 -1.34201348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08439141799997 meters 0.05708580971554951 Centerline is valid? [True, True] Translation: X:216.72, Y:9.67, Z:-1.34 [[ 9.99991126e-01 -2.27075082e-03 3.54842295e-03 2.16717346e+02] [ 2.27079872e-03 9.99997422e-01 -9.46940858e-06 9.67473841e+00] [-3.54839230e-03 1.75270789e-05 9.99993704e-01 -1.34189795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14439141799997 meters 0.057230618360318015 Centerline is valid? [True, True] Translation: X:216.78, Y:9.67, Z:-1.34 [[ 9.99991419e-01 -3.36960854e-04 4.12886293e-03 2.16779396e+02] [ 3.37010012e-04 9.99999943e-01 -1.12100278e-05 9.67110995e+00] [-4.12885891e-03 1.26013998e-05 9.99991476e-01 -1.34200555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20439141799997 meters 0.05726015024832331 Centerline is valid? [True, True] Translation: X:216.84, Y:9.67, Z:-1.34 [[ 9.99993147e-01 8.18625942e-04 3.61051173e-03 2.16840261e+02] [-8.18595497e-04 9.99999665e-01 -9.91005406e-06 9.66793655e+00] [-3.61051863e-03 6.95443751e-06 9.99993482e-01 -1.34287287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26439141799997 meters 0.05729919467963139 Centerline is valid? [True, True] Translation: X:216.90, Y:9.66, Z:-1.35 [[ 9.99998001e-01 4.92021237e-04 1.93824335e-03 2.16901548e+02] [-4.92012321e-04 9.99999879e-01 -5.07718133e-06 9.66168877e+00] [-1.93824562e-03 4.12353157e-06 9.99998122e-01 -1.34507186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32439141799998 meters 0.05777810026251509 Centerline is valid? [True, True] Translation: X:216.96, Y:9.65, Z:-1.35 [[ 9.99995829e-01 -2.28212628e-03 1.77027788e-03 2.16962018e+02] [ 2.28213902e-03 9.99997396e-01 -5.17677448e-06 9.65499936e+00] [-1.77026145e-03 9.21677311e-06 9.99998433e-01 -1.34573320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38439141799998 meters 0.05830976438721679 Centerline is valid? [True, True] Translation: X:217.02, Y:9.65, Z:-1.34 [[ 9.99980508e-01 -5.68180314e-03 2.58848943e-03 2.17023551e+02] [ 5.68184179e-03 9.99983858e-01 -7.57967459e-06 9.65042905e+00] [-2.58840459e-03 2.22869143e-05 9.99996650e-01 -1.34418420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44439141799998 meters 0.05857520513783903 Centerline is valid? [True, True] Translation: X:217.08, Y:9.65, Z:-1.34 [[ 9.99967163e-01 -7.34412246e-03 3.42589775e-03 2.17084706e+02] [ 7.34419933e-03 9.99973031e-01 -9.85816435e-06 9.64595277e+00] [-3.42573295e-03 3.50183166e-05 9.99994132e-01 -1.34419716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50439141799998 meters 0.05850730485322014 Centerline is valid? [True, True] Translation: X:217.15, Y:9.64, Z:-1.34 [[ 9.99948348e-01 -9.23849056e-03 4.23705291e-03 2.17146686e+02] [ 9.23862803e-03 9.99957323e-01 -1.28726515e-05 9.64361796e+00] [-4.23675316e-03 5.20165424e-05 9.99991024e-01 -1.34390826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56439141799999 meters 0.05785964723673914 Centerline is valid? [True, True] Translation: X:217.21, Y:9.64, Z:-1.34 [[ 9.99937045e-01 -1.04044569e-02 4.20165692e-03 2.17208210e+02] [ 1.04046046e-02 9.99945871e-01 -1.32864943e-05 9.63677540e+00] [-4.20129125e-03 5.70022366e-05 9.99991173e-01 -1.34480685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624391418 meters 0.058134319783846526 Centerline is valid? [True, True] Translation: X:217.27, Y:9.63, Z:-1.35 [[ 9.99895539e-01 -1.35130170e-02 5.12930343e-03 2.17270087e+02] [ 1.35132818e-02 9.99908691e-01 -1.69775394e-05 9.63451367e+00] [-5.12860566e-03 8.62894885e-05 9.99986845e-01 -1.34537798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters 0.058841829881981875 Centerline is valid? [True, True] Translation: X:217.33, Y:9.63, Z:-1.35 [[ 9.99886529e-01 -1.45386293e-02 3.94417812e-03 2.17331217e+02] [ 1.45387943e-02 9.99894306e-01 -1.31578850e-05 9.63042954e+00] [-3.94356995e-03 7.04999865e-05 9.99992222e-01 -1.34571338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters 0.05939330157221803 Centerline is valid? [True, True] Translation: X:217.39, Y:9.63, Z:-1.35 [[ 9.99899562e-01 -1.38024215e-02 3.21853308e-03 2.17393417e+02] [ 1.38025276e-02 9.99904741e-01 -1.07490541e-05 9.62900314e+00] [-3.21807813e-03 5.51718662e-05 9.99994820e-01 -1.34655137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80439141799997 meters 0.058703756727537866 Centerline is valid? [True, True] Translation: X:217.45, Y:9.63, Z:-1.35 [[ 9.99952484e-01 -9.34730638e-03 2.76716648e-03 2.17454000e+02] [ 9.34736817e-03 9.99956312e-01 -9.39609376e-06 9.62731738e+00] [-2.76695776e-03 3.52613712e-05 9.99996171e-01 -1.34717075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86439141799997 meters 0.05843412697787869 Centerline is valid? [True, True] Translation: X:217.52, Y:9.63, Z:-1.35 [[ 9.99987267e-01 -3.85979438e-03 3.25069253e-03 2.17515041e+02] [ 3.85985079e-03 9.99992551e-01 -1.10815103e-05 9.63056394e+00] [-3.25062554e-03 2.36285574e-05 9.99994716e-01 -1.34670472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92439141799997 meters 0.05866669060254234 Centerline is valid? [True, True] Translation: X:217.58, Y:9.63, Z:-1.35 [[ 9.99995060e-01 -1.06599053e-03 2.95681559e-03 2.17576783e+02] [ 1.06602525e-03 9.99999432e-01 -1.01659025e-05 9.63043747e+00] [-2.95680307e-03 1.33178924e-05 9.99995629e-01 -1.34781188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98439141799997 meters 0.05826063639894418 Centerline is valid? [True, True] Translation: X:217.64, Y:9.63, Z:-1.35 [[ 9.99997534e-01 -1.47711654e-04 2.21604566e-03 2.17638370e+02] [ 1.47728855e-04 9.99999989e-01 -7.59803312e-06 9.62886290e+00] [-2.21604452e-03 7.92538827e-06 9.99997545e-01 -1.34833811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04439141799998 meters 0.058913457192183105 Centerline is valid? [True, True] Translation: X:217.70, Y:9.63, Z:-1.35 [[ 9.99996521e-01 -1.62996013e-03 2.07390141e-03 2.17699880e+02] [ 1.62997778e-03 9.99998672e-01 -6.81902883e-06 9.62632216e+00] [-2.07388754e-03 1.01994183e-05 9.99997849e-01 -1.34834253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10439141799998 meters 0.058790881721057536 Centerline is valid? [True, True] Translation: X:217.76, Y:9.62, Z:-1.35 [[ 9.99963400e-01 -7.77632007e-03 3.56752794e-03 2.17761387e+02] [ 7.77641526e-03 9.99969763e-01 -1.28106609e-05 9.62173288e+00] [-3.56732045e-03 4.05527707e-05 9.99993636e-01 -1.34776991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16439141799998 meters 0.059259258230469083 Centerline is valid? [True, True] Translation: X:217.82, Y:9.61, Z:-1.35 [[ 9.99850470e-01 -1.67396172e-02 4.33861596e-03 2.17821196e+02] [ 1.67398431e-02 9.99859879e-01 -1.57535895e-05 9.61260963e+00] [-4.33774432e-03 8.83789843e-05 9.99990588e-01 -1.34839089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22439141799998 meters 0.058677880336917274 Centerline is valid? [True, True] Translation: X:217.88, Y:9.61, Z:-1.35 [[ 9.99699419e-01 -2.41438974e-02 4.25952666e-03 2.17882156e+02] [ 2.41441822e-02 9.99708487e-01 -1.54574518e-05 9.60987901e+00] [-4.25791175e-03 1.18295593e-04 9.99990928e-01 -1.34911893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28439141799998 meters 0.06009390676922336 Centerline is valid? [True, True] Translation: X:217.94, Y:9.61, Z:-1.35 [[ 9.99404308e-01 -3.43421567e-02 3.41251937e-03 2.17942479e+02] [ 3.43423993e-02 9.99410126e-01 -1.24977025e-05 9.60819491e+00] [-3.41007722e-03 1.29684361e-04 9.99994177e-01 -1.35060042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344391418 meters 0.06051772887809336 Centerline is valid? [True, True] Translation: X:218.00, Y:9.60, Z:-1.35 [[ 9.99244212e-01 -3.87945608e-02 2.44678959e-03 2.18002540e+02] [ 3.87946988e-02 9.99247202e-01 -8.92535320e-06 9.60022136e+00] [-2.44460140e-03 1.03841073e-04 9.99997007e-01 -1.35167872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404391418 meters 0.059486463919774996 Centerline is valid? [True, True] Translation: X:218.06, Y:9.61, Z:-1.35 [[ 9.99120548e-01 -4.18094912e-02 3.17772017e-03 2.18063293e+02] [ 4.18097392e-02 9.99125591e-01 -1.16249420e-05 9.60887643e+00] [-3.17445550e-03 1.44474370e-04 9.99994951e-01 -1.35078847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters 0.05981144937188006 Centerline is valid? [True, True] Translation: X:218.12, Y:9.61, Z:-1.35 [[ 9.99042782e-01 -4.36153809e-02 3.34942627e-03 2.18124676e+02] [ 4.36156665e-02 9.99048384e-01 -1.22289285e-05 9.61149010e+00] [-3.34570554e-03 1.58304682e-04 9.99994391e-01 -1.35037804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52439141799996 meters 0.057749769905081086 Centerline is valid? [True, True] Translation: X:218.18, Y:9.62, Z:-1.35 [[ 9.98914339e-01 -4.63951608e-02 4.19918067e-03 2.18184876e+02] [ 4.63956346e-02 9.98923143e-01 -1.54395411e-05 9.61992844e+00] [-4.19394243e-03 2.10246431e-04 9.99991183e-01 -1.35016537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58439141799997 meters 0.06092585491191795 Centerline is valid? [True, True] Translation: X:218.24, Y:9.62, Z:-1.35 [[ 9.98757828e-01 -4.96963643e-02 3.61562811e-03 2.18244505e+02] [ 4.96967368e-02 9.98764354e-01 -1.32101950e-05 9.61787425e+00] [-3.61050397e-03 1.92878704e-04 9.99993464e-01 -1.35144780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64439141799997 meters 0.05738087431988784 Centerline is valid? [True, True] Translation: X:218.31, Y:9.63, Z:-1.35 [[ 9.98581601e-01 -5.31734009e-02 2.71584089e-03 2.18305643e+02] [ 5.31736241e-02 9.98585282e-01 -1.00197661e-05 9.63315390e+00] [-2.71146596e-03 1.54416657e-04 9.99996312e-01 -1.35238474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70439141799997 meters 0.0583363173538076 Centerline is valid? [True, True] Translation: X:218.37, Y:9.64, Z:-1.35 [[ 9.98277428e-01 -5.86667102e-02 6.26909634e-04 2.18365582e+02] [ 5.86667232e-02 9.98277625e-01 -2.36294560e-06 9.63825514e+00] [-6.25691234e-04 3.91376092e-05 9.99999803e-01 -1.35217328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76439141799997 meters 0.06372742836141239 Centerline is valid? [True, True] Translation: X:218.43, Y:9.62, Z:-1.35 [[ 9.97948137e-01 -6.40250575e-02 -5.55654521e-04 2.18425023e+02] [ 6.40250685e-02 9.97948291e-01 2.14781925e-06 9.62369388e+00] [ 5.54376965e-04 -3.77192310e-05 9.99999846e-01 -1.35364240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82439141799998 meters 0.056609574716568876 Centerline is valid? [True, True] Translation: X:218.49, Y:9.66, Z:-1.35 [[ 9.97740801e-01 -6.71754953e-02 8.63672659e-04 2.18485764e+02] [ 6.71755231e-02 9.97741173e-01 -3.18573503e-06 9.65990225e+00] [-8.61507769e-04 6.11962005e-05 9.99999627e-01 -1.35101267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88439141799998 meters 0.05634207142577594 Centerline is valid? [True, True] Translation: X:218.55, Y:9.67, Z:-1.35 [[ 9.97740604e-01 -6.71288498e-02 2.72131507e-03 2.18548760e+02] [ 6.71291249e-02 9.97744296e-01 -9.76309156e-06 9.67407495e+00] [-2.71452120e-03 1.92420532e-04 9.99996297e-01 -1.35021338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94439141799998 meters 0.05735070293239678 Centerline is valid? [True, True] Translation: X:218.61, Y:9.66, Z:-1.35 [[ 9.97916170e-01 -6.44463151e-02 3.16074663e-03 2.18608337e+02] [ 6.44466760e-02 9.97921152e-01 -1.23514509e-05 9.66420023e+00] [-3.15337991e-03 2.16025326e-04 9.99995005e-01 -1.35142267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00439141799998 meters 0.06158894367536436 Centerline is valid? [True, True] Translation: X:218.67, Y:9.66, Z:-1.35 [[ 9.98370135e-01 -5.70176275e-02 2.46226212e-03 2.18667654e+02] [ 5.70178239e-02 9.98373161e-01 -9.57516280e-06 9.65909754e+00] [-2.45771046e-03 1.49952384e-04 9.99996969e-01 -1.35212408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06439141799999 meters 0.06048753161950279 Centerline is valid? [True, True] Translation: X:218.73, Y:9.67, Z:-1.35 [[ 9.98647488e-01 -5.19496314e-02 2.10502457e-03 2.18728515e+02] [ 5.19497637e-02 9.98649699e-01 -8.16820275e-06 9.66664893e+00] [-2.10175782e-03 1.17512684e-04 9.99997784e-01 -1.35253105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124391418 meters 0.05668293934446263 Centerline is valid? [True, True] Translation: X:218.79, Y:9.69, Z:-1.35 [[ 9.98962582e-01 -4.54867545e-02 2.17142754e-03 2.18789097e+02] [ 4.54868801e-02 9.98964936e-01 -8.43341283e-06 9.69243028e+00] [-2.16879637e-03 1.07196128e-04 9.99997642e-01 -1.35189814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters 0.0558089078868235 Centerline is valid? [True, True] Translation: X:218.85, Y:9.70, Z:-1.35 [[ 9.99257605e-01 -3.85094743e-02 1.12202603e-03 2.18849798e+02] [ 3.85095034e-02 9.99258234e-01 -4.38431445e-06 9.70225079e+00] [-1.12102491e-03 4.75897248e-05 9.99999371e-01 -1.35237182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters 0.05710572248898483 Centerline is valid? [True, True] Translation: X:218.91, Y:9.70, Z:-1.35 [[ 9.99447259e-01 -3.32406095e-02 4.88940102e-04 2.18909599e+02] [ 3.32406144e-02 9.99447378e-01 -1.91223333e-06 9.70215782e+00] [-4.88606339e-04 1.81638457e-05 9.99999880e-01 -1.35401114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30439141799997 meters 0.05669382827567206 Centerline is valid? [True, True] Translation: X:218.97, Y:9.71, Z:-1.35 [[ 9.99681821e-01 -2.52012805e-02 1.07308511e-03 2.18968778e+02] [ 2.52012995e-02 9.99682397e-01 -4.22723283e-06 9.71028935e+00] [-1.07263777e-03 3.12690272e-05 9.99999424e-01 -1.35420498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36439141799997 meters 0.056328116151067475 Centerline is valid? [True, True] Translation: X:219.03, Y:9.72, Z:-1.35 [[ 9.99766219e-01 -2.15652159e-02 1.56500245e-03 2.19029349e+02] [ 2.15652517e-02 9.99767443e-01 -6.05849765e-06 9.71682558e+00] [-1.56450784e-03 3.98067530e-05 9.99998775e-01 -1.35367213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42439141799997 meters 0.05762116085840452 Centerline is valid? [True, True] Translation: X:219.09, Y:9.72, Z:-1.35 [[ 9.99800339e-01 -1.99199486e-02 1.57419851e-03 2.19089403e+02] [ 1.99199829e-02 9.99801577e-01 -6.10689925e-06 9.71850679e+00] [-1.57376450e-03 3.74636873e-05 9.99998761e-01 -1.35476172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48439141799997 meters 0.05604179466996479 Centerline is valid? [True, True] Translation: X:219.15, Y:9.73, Z:-1.35 [[ 9.99764105e-01 -2.16113615e-02 2.16424854e-03 2.19151471e+02] [ 2.16114301e-02 9.99766446e-01 -8.30043114e-06 9.72936230e+00] [-2.16356368e-03 5.50709790e-05 9.99997658e-01 -1.35458689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54439141799998 meters 0.05730021421163463 Centerline is valid? [True, True] Translation: X:219.21, Y:9.72, Z:-1.36 [[ 9.99737652e-01 -2.28471084e-02 1.62360619e-03 2.19212041e+02] [ 2.28471488e-02 9.99738970e-01 -6.34122553e-06 9.72383899e+00] [-1.62303750e-03 4.34343342e-05 9.99998682e-01 -1.35626869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60439141799998 meters 0.056152530248912036 Centerline is valid? [True, True] Translation: X:219.27, Y:9.73, Z:-1.36 [[ 9.99734384e-01 -2.30071697e-02 1.35337705e-03 2.19274262e+02] [ 2.30071978e-02 9.99735299e-01 -5.22336032e-06 9.72913828e+00] [-1.35289863e-03 3.63593864e-05 9.99999084e-01 -1.35654345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66439141799998 meters 0.055309328736066844 Centerline is valid? [True, True] Translation: X:219.33, Y:9.74, Z:-1.36 [[ 9.99805183e-01 -1.96632764e-02 1.71798622e-03 2.19334599e+02] [ 1.96633172e-02 9.99806658e-01 -6.86969444e-06 9.73862614e+00] [-1.71751898e-03 4.06496642e-05 9.99998524e-01 -1.35610304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72439141799998 meters 0.05564209472641144 Centerline is valid? [True, True] Translation: X:219.39, Y:9.74, Z:-1.36 [[ 9.99879804e-01 -1.53979053e-02 1.81183662e-03 2.19394728e+02] [ 1.53979437e-02 9.99881445e-01 -7.24497312e-06 9.73749566e+00] [-1.81151026e-03 3.51426606e-05 9.99998359e-01 -1.35705340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78439141799998 meters 0.0557318452527218 Centerline is valid? [True, True] Translation: X:219.45, Y:9.74, Z:-1.36 [[ 9.99968363e-01 -7.59429070e-03 2.36624564e-03 2.19454355e+02] [ 7.59433441e-03 9.99971163e-01 -9.48745721e-06 9.74313707e+00] [-2.36610536e-03 2.74572178e-05 9.99997200e-01 -1.35716279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844391418 meters 0.05536087682562656 Centerline is valid? [True, True] Translation: X:219.52, Y:9.75, Z:-1.36 [[ 9.99993031e-01 -2.89089586e-03 2.36248854e-03 2.19515764e+02] [ 2.89092599e-03 9.99995821e-01 -9.33870810e-06 9.75063909e+00] [-2.36245167e-03 1.61684226e-05 9.99997209e-01 -1.35667137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904391418 meters 0.055614922068083494 Centerline is valid? [True, True] Translation: X:219.58, Y:9.75, Z:-1.36 [[ 9.99998782e-01 1.14324278e-04 1.55685020e-03 2.19576892e+02] [-1.14314855e-04 9.99999993e-01 -6.14093027e-06 9.75255633e+00] [-1.55685089e-03 5.96295168e-06 9.99998788e-01 -1.35839411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters 0.05622458325936053 Centerline is valid? [True, True] Translation: X:219.64, Y:9.75, Z:-1.36 [[ 9.99999665e-01 -5.94555394e-04 5.62623903e-04 2.19637048e+02] [ 5.94556742e-04 9.99999823e-01 -2.22821901e-06 9.75135893e+00] [-5.62622479e-04 2.56273010e-06 9.99999842e-01 -1.36000370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02439141799996 meters 0.05594617773223632 Centerline is valid? [True, True] Translation: X:219.70, Y:9.75, Z:-1.36 [[ 9.99987053e-01 -5.00911646e-03 8.95817023e-04 2.19697865e+02] [ 5.00912168e-03 9.99987454e-01 -3.58563195e-06 9.75096008e+00] [-8.95787824e-04 8.07284200e-06 9.99999599e-01 -1.35802649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08439141799997 meters 0.05629620359649116 Centerline is valid? [True, True] Translation: X:219.76, Y:9.75, Z:-1.36 [[ 9.99927379e-01 -1.19656214e-02 1.43529212e-03 2.19759291e+02] [ 1.19656420e-02 9.99928409e-01 -5.74979184e-06 9.74749478e+00] [-1.43512056e-03 2.29235660e-05 9.99998970e-01 -1.35801703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14439141799997 meters 0.055587577819900015 Centerline is valid? [True, True] Translation: X:219.82, Y:9.74, Z:-1.36 [[ 9.99794888e-01 -2.02402143e-02 7.18004692e-04 2.19819810e+02] [ 2.02402215e-02 9.99795146e-01 -2.82670020e-06 9.74496712e+00] [-7.17800393e-04 1.73586944e-05 9.99999742e-01 -1.35900156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20439141799997 meters 0.0556702708142026 Centerline is valid? [True, True] Translation: X:219.88, Y:9.74, Z:-1.36 [[ 9.99664202e-01 -2.59069610e-02 5.59240919e-04 2.19880357e+02] [ 2.59069663e-02 9.99664358e-01 -2.28125522e-06 9.74483254e+00] [-5.58994114e-04 1.67687248e-05 9.99999844e-01 -1.35918963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26439141799997 meters 0.05622142538179415 Centerline is valid? [True, True] Translation: X:219.94, Y:9.73, Z:-1.36 [[ 9.99595506e-01 -2.84388338e-02 2.39750224e-04 2.19940338e+02] [ 2.84388348e-02 9.99595535e-01 -9.81915234e-07 9.73429720e+00] [-2.39625329e-04 7.79973509e-06 9.99999971e-01 -1.36123916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32439141799998 meters 0.05766220248252071 Centerline is valid? [True, True] Translation: X:220.00, Y:9.73, Z:-1.36 [[ 9.99306794e-01 -3.71839603e-02 1.81241981e-03 2.20000262e+02] [ 3.71840348e-02 9.99308435e-01 -7.41333511e-06 9.72812166e+00] [-1.81089074e-03 7.48012774e-05 9.99998358e-01 -1.36068820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38439141799998 meters 0.05450976387829461 Centerline is valid? [True, True] Translation: X:220.06, Y:9.74, Z:-1.36 [[ 9.98996073e-01 -4.46191877e-02 3.99676350e-03 2.20061301e+02] [ 4.46196095e-02 9.99004049e-01 -1.63633315e-05 9.73967514e+00] [-3.99205280e-03 1.94680930e-04 9.99992013e-01 -1.35930428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44439141799998 meters 0.05529525818786102 Centerline is valid? [True, True] Translation: X:220.12, Y:9.74, Z:-1.36 [[ 9.98847677e-01 -4.78032029e-02 4.26288361e-03 2.20120948e+02] [ 4.78037115e-02 9.98856749e-01 -1.74367679e-05 9.73652629e+00] [-4.25717653e-03 2.21198333e-04 9.99990914e-01 -1.35921849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50439141799998 meters 0.05629450019317393 Centerline is valid? [True, True] Translation: X:220.18, Y:9.73, Z:-1.36 [[ 9.98788351e-01 -4.90215330e-02 4.32649220e-03 2.20181242e+02] [ 4.90220692e-02 9.98797695e-01 -1.79038627e-05 9.73114748e+00] [-4.32041276e-03 2.29975769e-04 9.99990641e-01 -1.36064679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56439141799999 meters 0.05779771205969506 Centerline is valid? [True, True] Translation: X:220.24, Y:9.73, Z:-1.36 [[ 9.98849478e-01 -4.77631209e-02 4.28998609e-03 2.20241743e+02] [ 4.77636365e-02 9.98858666e-01 -1.77725735e-05 9.72874598e+00] [-4.28424091e-03 2.22657462e-04 9.99990798e-01 -1.36124683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624391418 meters 0.05494798042972373 Centerline is valid? [True, True] Translation: X:220.30, Y:9.75, Z:-1.36 [[ 9.98995981e-01 -4.46833813e-02 3.22882358e-03 2.20302053e+02] [ 4.46836576e-02 9.99001186e-01 -1.34381306e-05 9.74726370e+00] [-3.22499813e-03 1.57700286e-04 9.99994787e-01 -1.36132431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters 0.05482604800874303 Centerline is valid? [True, True] Translation: X:220.36, Y:9.76, Z:-1.36 [[ 9.99232151e-01 -3.91219158e-02 2.14127788e-03 2.20362347e+02] [ 3.91220245e-02 9.99234441e-01 -8.88156337e-06 9.75564679e+00] [-2.13929115e-03 9.26458695e-05 9.99997707e-01 -1.36254926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74439141799996 meters 0.05466406063797781 Centerline is valid? [True, True] Translation: X:220.42, Y:9.75, Z:-1.36 [[ 9.99437056e-01 -3.34932541e-02 1.94226860e-03 2.20421763e+02] [ 3.34933331e-02 9.99438941e-01 -8.15079757e-06 9.75445713e+00] [-1.94090587e-03 7.31992583e-05 9.99998114e-01 -1.36344939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80439141799997 meters 0.05486923334635636 Centerline is valid? [True, True] Translation: X:220.48, Y:9.76, Z:-1.36 [[ 9.99746074e-01 -2.22124018e-02 3.79438765e-03 2.20481234e+02] [ 2.22126218e-02 9.99753269e-01 -1.58298152e-05 9.75762684e+00] [-3.79309984e-03 1.00109093e-04 9.99992801e-01 -1.36286559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86439141799997 meters 0.0548164408739747 Centerline is valid? [True, True] Translation: X:220.54, Y:9.77, Z:-1.36 [[ 9.99883425e-01 -1.43860648e-02 5.11637728e-03 2.20541669e+02] [ 1.43863620e-02 9.99896511e-01 -2.12841567e-05 9.76559043e+00] [-5.11554159e-03 9.48877313e-05 9.99986911e-01 -1.36209828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92439141799997 meters 0.0548608283452494 Centerline is valid? [True, True] Translation: X:220.60, Y:9.77, Z:-1.36 [[ 9.99971798e-01 -5.11349476e-03 5.50053263e-03 2.20602040e+02] [ 5.11369825e-03 9.99986925e-01 -2.29308038e-05 9.77109691e+00] [-5.50034345e-03 5.10582212e-05 9.99984872e-01 -1.36272357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98439141799997 meters 0.05474706872591406 Centerline is valid? [True, True] Translation: X:220.66, Y:9.77, Z:-1.36 [[ 9.99988817e-01 -1.06485452e-03 4.60773482e-03 2.20663493e+02] [ 1.06495415e-03 9.99999433e-01 -1.91696797e-05 9.77326474e+00] [-4.60771180e-03 2.40764917e-05 9.99989384e-01 -1.36361939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04439141799998 meters 0.054734839912607566 Centerline is valid? [True, True] Translation: X:220.72, Y:9.78, Z:-1.36 [[ 9.99989824e-01 2.64237271e-03 3.65635201e-03 2.20724810e+02] [-2.64233454e-03 9.99996509e-01 -1.52703208e-05 9.77532288e+00] [-3.65637960e-03 5.60886017e-06 9.99993315e-01 -1.36466260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10439141799998 meters 0.05475545371584373 Centerline is valid? [True, True] Translation: X:220.79, Y:9.78, Z:-1.37 [[ 9.99964605e-01 8.13878443e-03 2.13300741e-03 2.20786349e+02] [-8.13878390e-03 9.99966880e-01 -8.93050018e-06 9.77821857e+00] [-2.13300944e-03 -8.42990225e-06 9.99997725e-01 -1.36518258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16439141799998 meters 0.055634761271361535 Centerline is valid? [True, True] Translation: X:220.85, Y:9.78, Z:-1.36 [[ 9.99932523e-01 1.13392051e-02 2.52421193e-03 2.20845475e+02] [-1.13392140e-02 9.99935709e-01 -1.07967032e-05 9.77912061e+00] [-2.52417207e-03 -1.78266046e-05 9.99996814e-01 -1.36492400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22439141799998 meters 0.05569608810725402 Centerline is valid? [True, True] Translation: X:220.90, Y:9.78, Z:-1.36 [[ 9.99880262e-01 1.50421936e-02 3.63249067e-03 2.20903649e+02] [-1.50422371e-02 9.99886859e-01 -1.53591078e-05 9.77926837e+00] [-3.63231073e-03 -3.92835172e-05 9.99993402e-01 -1.36471231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28439141799998 meters 0.05627719681708695 Centerline is valid? [True, True] Translation: X:220.96, Y:9.78, Z:-1.36 [[ 9.99883779e-01 1.46849618e-02 4.09642792e-03 2.20962375e+02] [-1.46850150e-02 9.99892169e-01 -1.70977575e-05 9.77690729e+00] [-4.09623727e-03 -4.30603349e-05 9.99991609e-01 -1.36468572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344391418 meters 0.05518666299313515 Centerline is valid? [True, True] Translation: X:221.02, Y:9.77, Z:-1.36 [[ 9.99935398e-01 1.04978459e-02 4.35825567e-03 2.21021599e+02] [-1.04978671e-02 9.99944896e-01 -1.80174245e-05 9.77014441e+00] [-4.35820465e-03 -2.77361281e-05 9.99990503e-01 -1.36429850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404391418 meters 0.05544253683585253 Centerline is valid? [True, True] Translation: X:221.08, Y:9.76, Z:-1.37 [[ 9.99987010e-01 2.84888093e-03 4.22662457e-03 2.21081764e+02] [-2.84883274e-03 9.99995942e-01 -1.74225561e-05 9.76155528e+00] [-4.22665705e-03 5.38138339e-06 9.99991068e-01 -1.36503248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters 0.05496303164446222 Centerline is valid? [True, True] Translation: X:221.14, Y:9.75, Z:-1.37 [[ 9.99990702e-01 -2.99316350e-03 3.10448660e-03 2.21142473e+02] [ 2.99321720e-03 9.99995520e-01 -1.26538120e-05 9.75372593e+00] [-3.10443482e-03 2.19460970e-05 9.99995181e-01 -1.36668209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52439141799996 meters 0.05460374987209288 Centerline is valid? [True, True] Translation: X:221.20, Y:9.74, Z:-1.37 [[ 9.99941642e-01 -1.07000823e-02 1.48998493e-03 2.21203556e+02] [ 1.07001032e-02 9.99942752e-01 -6.03730977e-06 9.74314201e+00] [-1.48983503e-03 2.19799499e-05 9.99998890e-01 -1.36868362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58439141799997 meters 0.05609682913981287 Centerline is valid? [True, True] Translation: X:221.26, Y:9.73, Z:-1.37 [[ 9.99903466e-01 -1.37920684e-02 1.68426649e-03 2.21264792e+02] [ 1.37920989e-02 9.99904884e-01 -6.49765373e-06 9.73344450e+00] [-1.68401667e-03 2.97265964e-05 9.99998582e-01 -1.37002807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64439141799997 meters 0.05547480927513489 Centerline is valid? [True, True] Translation: X:221.33, Y:9.73, Z:-1.37 [[ 9.99930717e-01 -1.16089110e-02 1.94799918e-03 2.21327041e+02] [ 1.16089487e-02 9.99932614e-01 -8.06892852e-06 9.73148952e+00] [-1.94777424e-03 3.06825920e-05 9.99998103e-01 -1.36972555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70439141799997 meters 0.05622584006683253 Centerline is valid? [True, True] Translation: X:221.39, Y:9.73, Z:-1.37 [[ 9.99965077e-01 -8.12928038e-03 1.93919735e-03 2.21387501e+02] [ 8.12931166e-03 9.99966957e-01 -8.24836129e-06 9.72959292e+00] [-1.93906622e-03 2.40124129e-05 9.99998120e-01 -1.36995653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76439141799997 meters 0.0557367556340995 Centerline is valid? [True, True] Translation: X:221.45, Y:9.73, Z:-1.37 [[ 9.99997772e-01 -1.07975232e-03 1.81403917e-03 2.21449170e+02] [ 1.07976792e-03 9.99999417e-01 -7.62226329e-06 9.72920686e+00] [-1.81402988e-03 9.58098762e-06 9.99998355e-01 -1.37040237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82439141799998 meters 0.05621297937246815 Centerline is valid? [True, True] Translation: X:221.51, Y:9.73, Z:-1.37 [[ 9.99966006e-01 8.14270349e-03 1.29707672e-03 2.21509471e+02] [-8.14270308e-03 9.99966848e-01 -5.59407781e-06 9.72984153e+00] [-1.29707927e-03 -4.96782298e-06 9.99999159e-01 -1.37074757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88439141799998 meters 0.05763198398921704 Centerline is valid? [True, True] Translation: X:221.57, Y:9.73, Z:-1.37 [[ 9.99896263e-01 1.43837033e-02 7.56320297e-04 2.21569356e+02] [-1.43837048e-02 9.99896549e-01 -3.52742931e-06 9.73103422e+00] [-7.56292792e-04 -7.35162446e-06 9.99999714e-01 -1.37156084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94439141799998 meters 0.05708539259493019 Centerline is valid? [True, True] Translation: X:221.63, Y:9.72, Z:-1.37 [[ 9.99752518e-01 2.22438612e-02 3.36013034e-04 2.21628696e+02] [-2.22438619e-02 9.99752575e-01 -1.48764203e-06 9.72370618e+00] [-3.35962987e-04 -5.98695367e-06 9.99999944e-01 -1.36986991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00439141799998 meters 0.05783888449083349 Centerline is valid? [True, True] Translation: X:221.69, Y:9.72, Z:-1.37 [[ 9.99681594e-01 2.52268986e-02 5.60503321e-04 2.21688426e+02] [-2.52269012e-02 9.99681751e-01 -2.42949849e-06 9.72441107e+00] [-5.60386231e-04 -1.17110370e-05 9.99999843e-01 -1.37089779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06439141799999 meters 0.057249551953251966 Centerline is valid? [True, True] Translation: X:221.75, Y:9.71, Z:-1.37 [[ 9.99674585e-01 2.54174254e-02 2.16318635e-03 2.21745333e+02] [-2.54174645e-02 9.99676924e-01 -9.40798779e-06 9.71470921e+00] [-2.16272660e-03 -4.55777859e-05 9.99997660e-01 -1.36971669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124391418 meters 0.057014614315265236 Centerline is valid? [True, True] Translation: X:221.80, Y:9.71, Z:-1.37 [[ 9.99807215e-01 1.93811931e-02 3.14663196e-03 2.21804903e+02] [-1.93812475e-02 9.99812166e-01 -1.31959807e-05 9.70796132e+00] [-3.14629667e-03 -4.77922163e-05 9.99995049e-01 -1.37025476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters 0.05798880103841697 Centerline is valid? [True, True] Translation: X:221.86, Y:9.71, Z:-1.37 [[ 9.99865265e-01 1.61261109e-02 3.06600705e-03 2.21864156e+02] [-1.61261473e-02 9.99869965e-01 -1.28496605e-05 9.70735547e+00] [-3.06581558e-03 -3.65949522e-05 9.99995300e-01 -1.37152806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24439141799996 meters 0.05675989796656586 Centerline is valid? [True, True] Translation: X:221.92, Y:9.69, Z:-1.37 [[ 9.99993731e-01 2.33792362e-03 2.65940063e-03 2.21923523e+02] [-2.33790232e-03 9.99997267e-01 -1.11182394e-05 9.69180999e+00] [-2.65941936e-03 4.90075079e-06 9.99996464e-01 -1.37208636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30439141799997 meters 0.05672476061764399 Centerline is valid? [True, True] Translation: X:221.98, Y:9.68, Z:-1.37 [[ 9.99956985e-01 -8.79280958e-03 2.95221519e-03 2.21983882e+02] [ 8.79288395e-03 9.99961342e-01 -1.22103074e-05 9.67848769e+00] [-2.95199370e-03 3.81682677e-05 9.99995642e-01 -1.37341063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36439141799997 meters 0.05829092780830432 Centerline is valid? [True, True] Translation: X:222.04, Y:9.66, Z:-1.37 [[ 9.99680609e-01 -2.51287305e-02 2.68819234e-03 2.22043880e+02] [ 2.51288513e-02 9.99684221e-01 -1.11517345e-05 9.66297839e+00] [-2.68706324e-03 7.86993583e-05 9.99996387e-01 -1.37310837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42439141799997 meters 0.06070549327727956 Centerline is valid? [True, True] Translation: X:222.10, Y:9.64, Z:-1.37 [[ 9.99278266e-01 -3.78957076e-02 2.61979516e-03 2.22102904e+02] [ 3.78958662e-02 9.99281694e-01 -1.08820835e-05 9.64401448e+00] [-2.61750096e-03 1.10153636e-04 9.99996568e-01 -1.37445984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48439141799997 meters 0.05774920208837867 Centerline is valid? [True, True] Translation: X:222.16, Y:9.65, Z:-1.37 [[ 9.99036981e-01 -4.37975228e-02 2.62428928e-03 2.22163327e+02] [ 4.37977022e-02 9.99040420e-01 -1.09026997e-05 9.65144712e+00] [-2.62129355e-03 1.25830040e-04 9.99996556e-01 -1.37459913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54439141799998 meters 0.05695081017434618 Centerline is valid? [True, True] Translation: X:222.22, Y:9.65, Z:-1.37 [[ 9.98843797e-01 -4.79847984e-02 2.92043263e-03 2.22223705e+02] [ 4.79850385e-02 9.98848054e-01 -1.21436102e-05 9.65490904e+00] [-2.91648574e-03 1.52266642e-04 9.99995735e-01 -1.37469414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60439141799998 meters 0.057220365759204216 Centerline is valid? [True, True] Translation: X:222.29, Y:9.66, Z:-1.37 [[ 9.98689527e-01 -5.11155917e-02 2.53479239e-03 2.22285155e+02] [ 5.11157824e-02 9.98692734e-01 -1.04685178e-05 9.65850757e+00] [-2.53094363e-03 1.40022695e-04 9.99996787e-01 -1.37435629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66439141799998 meters 0.05875791460402045 Centerline is valid? [True, True] Translation: X:222.35, Y:9.65, Z:-1.38 [[ 9.98668455e-01 -5.15367120e-02 2.29867324e-03 2.22346699e+02] [ 5.15368700e-02 9.98671092e-01 -9.51475695e-06 9.64852192e+00] [-2.29512815e-03 1.27968511e-04 9.99997358e-01 -1.37510227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72439141799998 meters 0.05714523398035434 Centerline is valid? [True, True] Translation: X:222.41, Y:9.66, Z:-1.38 [[ 9.98676354e-01 -5.13882906e-02 2.18714142e-03 2.22409446e+02] [ 5.13884331e-02 9.98678742e-01 -8.95388169e-06 9.66321361e+00] [-2.18379151e-03 1.21335800e-04 9.99997608e-01 -1.37523290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78439141799998 meters 0.057395159438193136 Centerline is valid? [True, True] Translation: X:222.47, Y:9.65, Z:-1.38 [[ 9.98721868e-01 -5.05386574e-02 6.88920622e-04 2.22470484e+02] [ 5.05386710e-02 9.98722105e-01 -2.36181153e-06 9.65460989e+00] [-6.87920891e-04 3.71759255e-05 9.99999763e-01 -1.37701655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844391418 meters 0.06132878474737905 Centerline is valid? [True, True] Translation: X:222.53, Y:9.65, Z:-1.38 [[ 9.98779251e-01 -4.93931593e-02 -5.69139342e-04 2.22531287e+02] [ 4.93931687e-02 9.98779413e-01 2.59518281e-06 9.64789473e+00] [ 5.68316473e-04 -3.07036103e-05 9.99999838e-01 -1.37968369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904391418 meters 0.05817184124113319 Centerline is valid? [True, True] Translation: X:222.59, Y:9.66, Z:-1.38 [[ 9.98885422e-01 -4.71995812e-02 -3.36610093e-04 2.22591576e+02] [ 4.71995843e-02 9.98885479e-01 1.48444621e-06 9.66231475e+00] [ 3.36164869e-04 -1.73706482e-05 9.99999943e-01 -1.37766381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters 0.05808933884450786 Centerline is valid? [True, True] Translation: X:222.65, Y:9.67, Z:-1.38 [[ 9.98991326e-01 -4.48875388e-02 1.20015185e-03 2.22652180e+02] [ 4.48875774e-02 9.98992045e-01 -5.23475274e-06 9.66667397e+00] [-1.19870718e-03 5.91013817e-05 9.99999280e-01 -1.37717735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02439141799996 meters 0.05718862278101443 Centerline is valid? [True, True] Translation: X:222.71, Y:9.68, Z:-1.38 [[ 9.99167984e-01 -4.06767261e-02 2.95702665e-03 2.22713413e+02] [ 4.06769423e-02 9.99172351e-01 -1.29994792e-05 9.67958483e+00] [-2.95405050e-03 1.33271466e-04 9.99995628e-01 -1.37631838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08439141799997 meters 0.057035916037402386 Centerline is valid? [True, True] Translation: X:222.77, Y:9.69, Z:-1.38 [[ 9.99292433e-01 -3.74671775e-02 3.29309131e-03 2.22773623e+02] [ 3.74674284e-02 9.99297849e-01 -1.45182075e-05 9.68517002e+00] [-3.29023511e-03 1.37891598e-04 9.99994578e-01 -1.37645397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14439141799997 meters 0.05617109632200573 Centerline is valid? [True, True] Translation: X:222.83, Y:9.70, Z:-1.38 [[ 9.99460518e-01 -3.26720848e-02 3.34778622e-03 2.22834800e+02] [ 3.26723172e-02 9.99466117e-01 -1.47534520e-05 9.69960083e+00] [-3.34551687e-03 1.24125426e-04 9.99994396e-01 -1.37686144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20439141799997 meters 0.056322773717338646 Centerline is valid? [True, True] Translation: X:222.89, Y:9.70, Z:-1.38 [[ 9.99556037e-01 -2.96395660e-02 3.03733399e-03 2.22894992e+02] [ 2.96397434e-02 9.99560646e-01 -1.34019889e-05 9.70089306e+00] [-3.03560230e-03 1.03421839e-04 9.99995387e-01 -1.37736246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26439141799997 meters 0.05749204238691412 Centerline is valid? [True, True] Translation: X:222.95, Y:9.70, Z:-1.38 [[ 9.99665220e-01 -2.57597571e-02 2.42536437e-03 2.22954537e+02] [ 2.57598589e-02 9.99668160e-01 -1.07648320e-05 9.70106851e+00] [-2.42428224e-03 7.32382721e-05 9.99997059e-01 -1.37805574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32439141799998 meters 0.05593876039817987 Centerline is valid? [True, True] Translation: X:223.02, Y:9.72, Z:-1.38 [[ 9.99757090e-01 -2.19213559e-02 2.28382654e-03 2.23015488e+02] [ 2.19214361e-02 9.99759696e-01 -1.00698503e-05 9.71836468e+00] [-2.28305698e-03 6.01321616e-05 9.99997392e-01 -1.37740131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38439141799998 meters 0.05622499881605311 Centerline is valid? [True, True] Translation: X:223.08, Y:9.72, Z:-1.38 [[ 9.99819666e-01 -1.88412981e-02 2.37517890e-03 2.23075157e+02] [ 1.88413762e-02 9.99822485e-01 -1.05234201e-05 9.72044245e+00] [-2.37455900e-03 5.52731616e-05 9.99997179e-01 -1.37824375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44439141799998 meters 0.056033148179131916 Centerline is valid? [True, True] Translation: X:223.13, Y:9.73, Z:-1.38 [[ 9.99896756e-01 -1.41572144e-02 2.45991493e-03 2.23134720e+02] [ 1.41572841e-02 9.99899781e-01 -1.08988499e-05 9.72544252e+00] [-2.45951410e-03 4.57234390e-05 9.99996974e-01 -1.37889584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50439141799998 meters 0.05633546640405554 Centerline is valid? [True, True] Translation: X:223.20, Y:9.73, Z:-1.38 [[ 9.99943007e-01 -1.04148566e-02 2.34813445e-03 2.23195557e+02] [ 1.04149096e-02 9.99945763e-01 -1.03461354e-05 9.72958437e+00] [-2.34789934e-03 3.48011539e-05 9.99997243e-01 -1.37930240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56439141799999 meters 0.05591726769481227 Centerline is valid? [True, True] Translation: X:223.26, Y:9.73, Z:-1.38 [[ 9.99967650e-01 -7.62141526e-03 2.57147953e-03 2.23256931e+02] [ 7.62146972e-03 9.99970956e-01 -1.13805814e-05 9.73291822e+00] [-2.57131811e-03 3.09786667e-05 9.99996694e-01 -1.37906155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624391418 meters 0.05526633908813526 Centerline is valid? [True, True] Translation: X:223.32, Y:9.73, Z:-1.38 [[ 9.99970997e-01 -6.81795350e-03 3.39435639e-03 2.23319274e+02] [ 6.81804384e-03 9.99976757e-01 -1.50441899e-05 9.73421329e+00] [-3.39417492e-03 3.81866242e-05 9.99994239e-01 -1.37868919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters 0.05538840803765319 Centerline is valid? [True, True] Translation: X:223.38, Y:9.74, Z:-1.38 [[ 9.99961737e-01 -7.80262208e-03 3.95524254e-03 2.23381709e+02] [ 7.80275258e-03 9.99969558e-01 -1.75644828e-05 9.73594894e+00] [-3.95498509e-03 4.84255897e-05 9.99992178e-01 -1.37808651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74439141799996 meters 0.05564479928893505 Centerline is valid? [True, True] Translation: X:223.44, Y:9.73, Z:-1.38 [[ 9.99943876e-01 -1.01001810e-02 3.19872560e-03 2.23442348e+02] [ 1.01002798e-02 9.99948991e-01 -1.47099111e-05 9.73050467e+00] [-3.19841386e-03 4.70171089e-05 9.99994884e-01 -1.37983450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80439141799997 meters 0.05538761356997943 Centerline is valid? [True, True] Translation: X:223.50, Y:9.73, Z:-1.38 [[ 9.99863435e-01 -1.64021468e-02 2.01993856e-03 2.23503227e+02] [ 1.64021991e-02 9.99865475e-01 -9.34429237e-06 9.72892604e+00] [-2.01951357e-03 4.24744508e-05 9.99997960e-01 -1.38055612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86439141799997 meters 0.055197928971496064 Centerline is valid? [True, True] Translation: X:223.56, Y:9.73, Z:-1.38 [[ 9.99775880e-01 -2.11111816e-02 1.58389972e-03 2.23564358e+02] [ 2.11112195e-02 9.99777133e-01 -7.25130901e-06 9.72692790e+00] [-1.58339364e-03 4.06877386e-05 9.99998746e-01 -1.38080194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92439141799997 meters 0.05511965521942404 Centerline is valid? [True, True] Translation: X:223.63, Y:9.72, Z:-1.38 [[ 9.99606065e-01 -2.80386707e-02 1.24446212e-03 2.23625050e+02] [ 2.80386996e-02 9.99606838e-01 -5.78843404e-06 9.72310557e+00] [-1.24381055e-03 4.06792534e-05 9.99999226e-01 -1.38074176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98439141799997 meters 0.05474192006348155 Centerline is valid? [True, True] Translation: X:223.69, Y:9.72, Z:-1.38 [[ 9.99419866e-01 -3.39604792e-02 2.57253162e-03 2.23685813e+02] [ 3.39606223e-02 9.99423172e-01 -1.19579209e-05 9.72396244e+00] [-2.57064161e-03 9.93157582e-05 9.99996691e-01 -1.38017979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04439141799998 meters 0.05491224942779614 Centerline is valid? [True, True] Translation: X:223.75, Y:9.72, Z:-1.38 [[ 9.99306464e-01 -3.71292896e-02 2.82949056e-03 2.23745172e+02] [ 3.71294755e-02 9.99310463e-01 -1.31745661e-05 9.71968103e+00] [-2.82705036e-03 1.18222929e-04 9.99995997e-01 -1.38098959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10439141799998 meters 0.054252504342424214 Centerline is valid? [True, True] Translation: X:223.81, Y:9.72, Z:-1.38 [[ 9.99290755e-01 -3.75460664e-02 2.87763875e-03 2.23807707e+02] [ 3.75462600e-02 9.99294891e-01 -1.32518839e-05 9.71864249e+00] [-2.87511215e-03 1.21287058e-04 9.99995860e-01 -1.38136041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16439141799998 meters 0.05529886751204943 Centerline is valid? [True, True] Translation: X:223.87, Y:9.72, Z:-1.38 [[ 9.99245816e-01 -3.87114178e-02 3.03722150e-03 2.23869965e+02] [ 3.87116389e-02 9.99250423e-01 -1.40227493e-05 9.71590149e+00] [-3.03440203e-03 1.31587996e-04 9.99995388e-01 -1.38198975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22439141799998 meters 0.055722088459234195 Centerline is valid? [True, True] Translation: X:223.93, Y:9.71, Z:-1.38 [[ 9.99224428e-01 -3.93485689e-02 1.49405673e-03 2.23931307e+02] [ 3.93486230e-02 9.99225543e-01 -6.80740827e-06 9.70983755e+00] [-1.49263179e-03 6.55912036e-05 9.99998884e-01 -1.38288100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28439141799998 meters 0.05542454832329445 Centerline is valid? [True, True] Translation: X:223.99, Y:9.71, Z:-1.38 [[ 9.99227424e-01 -3.92972713e-02 5.28918224e-04 2.23993947e+02] [ 3.92972780e-02 9.99227564e-01 -2.36147887e-06 9.71024642e+00] [-5.28416868e-04 2.31447009e-05 9.99999860e-01 -1.38400345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344391418 meters 0.05642436620006497 Centerline is valid? [True, True] Translation: X:224.05, Y:9.71, Z:-1.38 [[ 9.99268316e-01 -3.82442190e-02 4.60205793e-04 2.24054044e+02] [ 3.82442241e-02 9.99268422e-01 -2.17643137e-06 9.70657083e+00] [-4.59785881e-04 1.97750524e-05 9.99999894e-01 -1.38472624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404391418 meters 0.05489052454626716 Centerline is valid? [True, True] Translation: X:224.11, Y:9.72, Z:-1.38 [[ 9.99405422e-01 -3.44143042e-02 2.11163762e-03 2.24114692e+02] [ 3.44144024e-02 9.99407649e-01 -1.02022652e-05 9.72161188e+00] [-2.11003569e-03 8.28669462e-05 9.99997770e-01 -1.38277261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters 0.057631696024360905 Centerline is valid? [True, True] Translation: X:224.17, Y:9.71, Z:-1.38 [[ 9.99692022e-01 -2.47033937e-02 2.36732629e-03 2.24174412e+02] [ 2.47034900e-02 9.99694822e-01 -1.14155694e-05 9.70999302e+00] [-2.36632183e-03 6.98932749e-05 9.99997198e-01 -1.38442743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52439141799996 meters 0.05603844771029116 Centerline is valid? [True, True] Translation: X:224.24, Y:9.72, Z:-1.38 [[ 9.99839337e-01 -1.76587448e-02 3.07704310e-03 2.24235508e+02] [ 1.76588740e-02 9.99844070e-01 -1.48363770e-05 9.72167551e+00] [-3.07630131e-03 6.91711099e-05 9.99995266e-01 -1.38360014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58439141799997 meters 0.055092548304067485 Centerline is valid? [True, True] Translation: X:224.30, Y:9.73, Z:-1.38 [[ 9.99954833e-01 -8.90417981e-03 3.32387808e-03 2.24296357e+02] [ 8.90428250e-03 9.99960356e-01 -1.60984509e-05 9.73159322e+00] [-3.32360297e-03 4.56944732e-05 9.99994476e-01 -1.38319983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64439141799997 meters 0.05543818461320016 Centerline is valid? [True, True] Translation: X:224.36, Y:9.73, Z:-1.39 [[ 9.99989316e-01 -4.43334338e-03 1.30882952e-03 2.24356843e+02] [ 4.43335545e-03 9.99990173e-01 -6.31939820e-06 9.73380889e+00] [-1.30878864e-03 1.21218372e-05 9.99999143e-01 -1.38571137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70439141799997 meters 0.05523676142612863 Centerline is valid? [True, True] Translation: X:224.42, Y:9.74, Z:-1.39 [[ 9.99990822e-01 -4.28422483e-03 -3.84886441e-05 2.24418786e+02] [ 4.28422485e-03 9.99990823e-01 4.59829842e-07 9.73645831e+00] [ 3.84863207e-05 -6.24719622e-07 9.99999999e-01 -1.38644345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76439141799997 meters 0.055647653793618294 Centerline is valid? [True, True] Translation: X:224.48, Y:9.73, Z:-1.39 [[ 9.99979025e-01 -6.47538551e-03 -1.35999938e-04 2.24480038e+02] [ 6.47538571e-03 9.99979034e-01 1.04299066e-06 9.73467543e+00] [ 1.35990333e-04 -1.92362084e-06 9.99999991e-01 -1.38746121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82439141799998 meters 0.055375533374255444 Centerline is valid? [True, True] Translation: X:224.54, Y:9.73, Z:-1.39 [[ 9.99941819e-01 -1.06510748e-02 1.70699952e-03 2.24541909e+02] [ 1.06511040e-02 9.99943275e-01 -8.05979745e-06 9.73453332e+00] [-1.70681684e-03 2.62407580e-05 9.99998543e-01 -1.38567882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88439141799998 meters 0.05671275200256814 Centerline is valid? [True, True] Translation: X:224.60, Y:9.73, Z:-1.39 [[ 9.99891125e-01 -1.45249259e-02 2.60073367e-03 2.24603056e+02] [ 1.45250091e-02 9.99894506e-01 -1.31345605e-05 9.72938347e+00] [-2.60026853e-03 5.09088108e-05 9.99996618e-01 -1.38557989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94439141799998 meters 0.055428990906813545 Centerline is valid? [True, True] Translation: X:224.66, Y:9.73, Z:-1.39 [[ 9.99772927e-01 -2.10823546e-02 3.10290712e-03 2.24664061e+02] [ 2.10825049e-02 9.99777739e-01 -1.57463430e-05 9.72853939e+00] [-3.10188550e-03 8.11598222e-05 9.99995186e-01 -1.38585479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00439141799998 meters 0.05474306175137677 Centerline is valid? [True, True] Translation: X:224.72, Y:9.73, Z:-1.39 [[ 9.99637697e-01 -2.67062699e-02 3.35410846e-03 2.24724651e+02] [ 2.67064774e-02 9.99643318e-01 -1.70605821e-05 9.73372282e+00] [-3.35245649e-03 1.06630823e-04 9.99994375e-01 -1.38637859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06439141799999 meters 0.05485276665938117 Centerline is valid? [True, True] Translation: X:224.79, Y:9.73, Z:-1.39 [[ 9.99583611e-01 -2.86537644e-02 3.40097669e-03 2.24785773e+02] [ 2.86539891e-02 9.99589390e-01 -1.73506532e-05 9.73421540e+00] [-3.39908306e-03 1.14794978e-04 9.99994217e-01 -1.38712685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124391418 meters 0.05545370337870232 Centerline is valid? [True, True] Translation: X:224.85, Y:9.73, Z:-1.39 [[ 9.99586322e-01 -2.85657715e-02 3.34376084e-03 2.24847144e+02] [ 2.85659882e-02 9.99591909e-01 -1.70422710e-05 9.73112160e+00] [-3.34190946e-03 1.12553054e-04 9.99994409e-01 -1.38828957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters 0.05488706958240379 Centerline is valid? [True, True] Translation: X:224.91, Y:9.73, Z:-1.39 [[ 9.99639374e-01 -2.65866385e-02 3.77790171e-03 2.24908368e+02] [ 2.65869014e-02 9.99646506e-01 -1.93661132e-05 9.73438432e+00] [-3.77605136e-03 1.19801829e-04 9.99992864e-01 -1.38839914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24439141799996 meters 0.055458421361780856 Centerline is valid? [True, True] Translation: X:224.97, Y:9.73, Z:-1.39 [[ 9.99741181e-01 -2.24689978e-02 3.56583866e-03 2.24967817e+02] [ 2.24692064e-02 9.99747535e-01 -1.84325316e-05 9.73200248e+00] [-3.56452425e-03 9.85493257e-05 9.99993642e-01 -1.38964492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30439141799997 meters 0.05533166590402736 Centerline is valid? [True, True] Translation: X:225.03, Y:9.73, Z:-1.39 [[ 9.99790009e-01 -2.02715402e-02 3.00033638e-03 2.25029087e+02] [ 2.02716776e-02 9.99794508e-01 -1.54068525e-05 9.73291077e+00] [-2.99940752e-03 7.62254691e-05 9.99995499e-01 -1.39094272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36439141799997 meters 0.054404792468526836 Centerline is valid? [True, True] Translation: X:225.09, Y:9.74, Z:-1.39 [[ 9.99766860e-01 -2.15422839e-02 1.46838206e-03 2.25091621e+02] [ 2.15423181e-02 9.99767937e-01 -7.46020839e-06 9.73879450e+00] [-1.46788060e-03 3.90908226e-05 9.99998922e-01 -1.39183094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42439141799997 meters 0.0548326534420087 Centerline is valid? [True, True] Translation: X:225.15, Y:9.74, Z:-1.39 [[ 9.99705023e-01 -2.42819213e-02 5.05953340e-04 2.25151731e+02] [ 2.42819257e-02 9.99705151e-01 -2.44328714e-06 9.73734520e+00] [-5.05744833e-04 1.47280878e-05 9.99999872e-01 -1.39239143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48439141799997 meters 0.05483195676098869 Centerline is valid? [True, True] Translation: X:225.21, Y:9.74, Z:-1.39 [[ 9.99676439e-01 -2.53725040e-02 1.80386822e-03 2.25213614e+02] [ 2.53725621e-02 9.99678065e-01 -9.33629050e-06 9.73857420e+00] [-1.80305061e-03 5.51020282e-05 9.99998373e-01 -1.39213149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54439141799998 meters 0.055163759430651424 Centerline is valid? [True, True] Translation: X:225.27, Y:9.74, Z:-1.39 [[ 9.99690167e-01 -2.47635755e-02 2.51690804e-03 2.25274803e+02] [ 2.47636872e-02 9.99693333e-01 -1.32102979e-05 9.73693395e+00] [-2.51580905e-03 7.55341283e-05 9.99996832e-01 -1.39202108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60439141799998 meters 0.055450274352689455 Centerline is valid? [True, True] Translation: X:225.33, Y:9.74, Z:-1.39 [[ 9.99761032e-01 -2.14028004e-02 4.44969744e-03 2.25334807e+02] [ 2.14031173e-02 9.99770927e-01 -2.36051148e-05 9.73885746e+00] [-4.44817291e-03 1.18836870e-04 9.99990100e-01 -1.39108218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66439141799998 meters 0.05607551918572302 Centerline is valid? [True, True] Translation: X:225.40, Y:9.74, Z:-1.39 [[ 9.99793723e-01 -1.95994394e-02 5.32667828e-03 2.25395662e+02] [ 1.95998678e-02 9.99807904e-01 -2.82414338e-05 9.73752613e+00] [-5.32510153e-03 1.32637799e-04 9.99985813e-01 -1.39108865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72439141799998 meters 0.05563632784614002 Centerline is valid? [True, True] Translation: X:225.46, Y:9.74, Z:-1.39 [[ 9.99849388e-01 -1.62323511e-02 6.14097653e-03 2.25456562e+02] [ 1.62328580e-02 9.99868238e-01 -3.27145336e-05 9.74165824e+00] [-6.13963635e-03 1.32395207e-04 9.99981143e-01 -1.39133232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78439141799998 meters 0.055495113206554134 Centerline is valid? [True, True] Translation: X:225.52, Y:9.74, Z:-1.39 [[ 9.99882998e-01 -1.37866312e-02 6.62717194e-03 2.25516883e+02] [ 1.37871682e-02 9.99904952e-01 -3.53588793e-05 9.74156361e+00] [-6.62605456e-03 1.26724677e-04 9.99978039e-01 -1.39158026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844391418 meters 0.05500227208491502 Centerline is valid? [True, True] Translation: X:225.58, Y:9.74, Z:-1.39 [[ 9.99911360e-01 -1.17421465e-02 6.27653254e-03 2.25578281e+02] [ 1.17425897e-02 9.99931053e-01 -3.37519435e-05 9.74411140e+00] [-6.27570348e-03 1.07451698e-04 9.99980302e-01 -1.39315926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904391418 meters 0.05610680458480828 Centerline is valid? [True, True] Translation: X:225.64, Y:9.74, Z:-1.40 [[ 9.99932719e-01 -1.09573075e-02 3.80729660e-03 2.25639745e+02] [ 1.09574649e-02 9.99939965e-01 -2.04791500e-05 9.73920708e+00] [-3.80684363e-03 6.21960910e-05 9.99992752e-01 -1.39665704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters 0.05507831672380749 Centerline is valid? [True, True] Translation: X:225.70, Y:9.75, Z:-1.40 [[ 9.99929284e-01 -1.13539386e-02 3.53760769e-03 2.25701913e+02] [ 1.13540771e-02 9.99935540e-01 -1.90753444e-05 9.74626228e+00] [-3.53716307e-03 5.92402659e-05 9.99993742e-01 -1.39640470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02439141799996 meters 0.0548313223569948 Centerline is valid? [True, True] Translation: X:225.76, Y:9.74, Z:-1.40 [[ 9.99929524e-01 -1.13744055e-02 3.40148770e-03 2.25764229e+02] [ 1.13745340e-02 9.99935308e-01 -1.84231672e-05 9.74293109e+00] [-3.40105810e-03 5.71122064e-05 9.99994215e-01 -1.39741066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08439141799997 meters 0.054427520283466875 Centerline is valid? [True, True] Translation: X:225.83, Y:9.74, Z:-1.40 [[ 9.99921881e-01 -1.19954726e-02 3.51280360e-03 2.25826752e+02] [ 1.19956140e-02 9.99928050e-01 -1.91972563e-05 9.74324646e+00] [-3.51232058e-03 6.13339929e-05 9.99993830e-01 -1.39670678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14439141799997 meters 0.05546667708219794 Centerline is valid? [True, True] Translation: X:225.89, Y:9.74, Z:-1.40 [[ 9.99908405e-01 -1.27982694e-02 4.40301752e-03 2.25889214e+02] [ 1.27985003e-02 9.99918096e-01 -2.42566090e-05 9.74108834e+00] [-4.40234645e-03 8.06064080e-05 9.99990306e-01 -1.39640952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20439141799997 meters 0.05537977830186017 Centerline is valid? [True, True] Translation: X:225.95, Y:9.73, Z:-1.40 [[ 9.99880821e-01 -1.44498432e-02 5.43566172e-03 2.25950762e+02] [ 1.44502204e-02 9.99895590e-01 -3.01278453e-05 9.73296762e+00] [-5.43465883e-03 1.08670765e-04 9.99985226e-01 -1.39686892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26439141799997 meters 0.05507562248930731 Centerline is valid? [True, True] Translation: X:226.01, Y:9.73, Z:-1.40 [[ 9.99847026e-01 -1.64953799e-02 5.81617229e-03 2.26012910e+02] [ 1.64958503e-02 9.99863934e-01 -3.29156299e-05 9.73185515e+00] [-5.81483795e-03 1.28853302e-04 9.99983085e-01 -1.39720255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32439141799998 meters 0.05478306541088129 Centerline is valid? [True, True] Translation: X:226.07, Y:9.73, Z:-1.40 [[ 9.99763062e-01 -2.08435719e-02 6.27425990e-03 2.26074026e+02] [ 2.08442062e-02 9.99782735e-01 -3.57114207e-05 9.73297796e+00] [-6.27215237e-03 1.66484926e-04 9.99980316e-01 -1.39820729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38439141799998 meters 0.0559137117429383 Centerline is valid? [True, True] Translation: X:226.13, Y:9.72, Z:-1.40 [[ 9.99703112e-01 -2.39218834e-02 4.62950712e-03 2.26133922e+02] [ 2.39222619e-02 9.99713821e-01 -2.63801659e-05 9.72478702e+00] [-4.62755119e-03 1.37120616e-04 9.99989283e-01 -1.39931202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44439141799998 meters 0.055532129594902696 Centerline is valid? [True, True] Translation: X:226.19, Y:9.73, Z:-1.40 [[ 9.99586784e-01 -2.83909276e-02 4.49636087e-03 2.26194745e+02] [ 2.83913298e-02 9.99596885e-01 -2.56193176e-05 9.72676237e+00] [-4.49382096e-03 1.53266395e-04 9.99989891e-01 -1.39994728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50439141799998 meters 0.05467802525065904 Centerline is valid? [True, True] Translation: X:226.26, Y:9.73, Z:-1.40 [[ 9.99517431e-01 -3.07836805e-02 4.15584501e-03 2.26255532e+02] [ 3.07840446e-02 9.99526059e-01 -2.36560560e-05 9.72570489e+00] [-4.15314716e-03 1.51578358e-04 9.99991364e-01 -1.40014100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56439141799999 meters 0.05474230707294787 Centerline is valid? [True, True] Translation: X:226.32, Y:9.72, Z:-1.40 [[ 9.99562516e-01 -2.93221688e-02 3.87122103e-03 2.26315674e+02] [ 2.93224741e-02 9.99570004e-01 -2.21111088e-05 9.72475036e+00] [-3.86890807e-03 1.35615214e-04 9.99992507e-01 -1.40032667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624391418 meters 0.05428471124956639 Centerline is valid? [True, True] Translation: X:226.38, Y:9.73, Z:-1.40 [[ 9.99626244e-01 -2.69892900e-02 4.35332324e-03 2.26376193e+02] [ 2.69896542e-02 9.99635713e-01 -2.49213293e-05 9.72618862e+00] [-4.35106477e-03 1.42406704e-04 9.99990524e-01 -1.40030331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters 0.056681171258188466 Centerline is valid? [True, True] Translation: X:226.44, Y:9.72, Z:-1.40 [[ 9.99730693e-01 -2.28935487e-02 3.79818219e-03 2.26435253e+02] [ 2.28937964e-02 9.99737902e-01 -2.17407040e-05 9.71711591e+00] [-3.79668897e-03 1.08689659e-04 9.99992787e-01 -1.40116118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74439141799996 meters 0.05491798925092508 Centerline is valid? [True, True] Translation: X:226.50, Y:9.73, Z:-1.40 [[ 9.99773122e-01 -2.09810302e-02 3.67434938e-03 2.26497314e+02] [ 2.09812489e-02 9.99779869e-01 -2.09814252e-05 9.72924165e+00] [-3.67310033e-03 9.80691038e-05 9.99993249e-01 -1.40063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80439141799997 meters 0.05459927763341277 Centerline is valid? [True, True] Translation: X:226.56, Y:9.73, Z:-1.40 [[ 9.99809889e-01 -1.91066348e-02 3.88872121e-03 2.26559126e+02] [ 1.91068659e-02 9.99817447e-01 -2.22896779e-05 9.72915095e+00] [-3.88758543e-03 9.65867150e-05 9.99992439e-01 -1.40092036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86439141799997 meters 0.05435267184807461 Centerline is valid? [True, True] Translation: X:226.62, Y:9.73, Z:-1.40 [[ 9.99856476e-01 -1.64163427e-02 4.18709693e-03 2.26620968e+02] [ 1.64165878e-02 9.99865238e-01 -2.41734912e-05 9.73151424e+00] [-4.18613584e-03 9.29078660e-05 9.99991234e-01 -1.40080913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92439141799997 meters 0.05483924829615778 Centerline is valid? [True, True] Translation: X:226.68, Y:9.73, Z:-1.40 [[ 9.99932216e-01 -1.07459201e-02 4.48198868e-03 2.26680397e+02] [ 1.07461448e-02 9.99942258e-01 -2.60482305e-05 9.73147408e+00] [-4.48144997e-03 7.42105641e-05 9.99989955e-01 -1.40165363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98439141799997 meters 0.05464156431689909 Centerline is valid? [True, True] Translation: X:226.74, Y:9.73, Z:-1.40 [[ 9.99974511e-01 -5.84149278e-03 4.10529372e-03 2.26741575e+02] [ 5.84163956e-03 9.99982937e-01 -2.37654258e-05 9.73358458e+00] [-4.10508485e-03 4.77464663e-05 9.99991573e-01 -1.40258963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04439141799998 meters 0.05547602665526435 Centerline is valid? [True, True] Translation: X:226.80, Y:9.74, Z:-1.40 [[ 9.99991773e-01 1.04376248e-03 3.91968654e-03 2.26801795e+02] [-1.04368116e-03 9.99999455e-01 -2.27928863e-05 9.73673006e+00] [-3.91970820e-03 1.87017958e-05 9.99992318e-01 -1.40308568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10439141799998 meters 0.05522625836424638 Centerline is valid? [True, True] Translation: X:226.86, Y:9.74, Z:-1.40 [[ 9.99967590e-01 6.17247809e-03 5.16903707e-03 2.26863059e+02] [-6.17240464e-03 9.99980950e-01 -3.01609749e-05 9.73984372e+00] [-5.16912477e-03 -1.74539099e-06 9.99986640e-01 -1.40198676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16439141799998 meters 0.05494915058723571 Centerline is valid? [True, True] Translation: X:226.92, Y:9.74, Z:-1.40 [[ 9.99951272e-01 8.26739226e-03 5.39476287e-03 2.26923210e+02] [-8.26734193e-03 9.99965824e-01 -3.16308196e-05 9.73923410e+00] [-5.39484000e-03 -1.29710709e-05 9.99985448e-01 -1.40250500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22439141799998 meters 0.054754693369529865 Centerline is valid? [True, True] Translation: X:226.98, Y:9.74, Z:-1.40 [[ 9.99958976e-01 7.53722225e-03 5.02363450e-03 2.26983920e+02] [-7.53716915e-03 9.99971595e-01 -2.95018049e-05 9.73586350e+00] [-5.02371416e-03 -8.36338840e-06 9.99987381e-01 -1.40244140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28439141799998 meters 0.05573626977576291 Centerline is valid? [True, True] Translation: X:227.04, Y:9.73, Z:-1.40 [[ 9.99990507e-01 2.38517224e-03 3.64643256e-03 2.27044622e+02] [-2.38511001e-03 9.99997155e-01 -2.14140463e-05 9.72877966e+00] [-3.64647326e-03 1.27167002e-05 9.99993352e-01 -1.40375523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344391418 meters 0.055750252411275916 Centerline is valid? [True, True] Translation: X:227.11, Y:9.72, Z:-1.41 [[ 9.99993239e-01 -2.35324903e-03 2.82546711e-03 2.27105165e+02] [ 2.35330481e-03 9.99997231e-01 -1.64169178e-05 9.72046286e+00] [-2.82542065e-03 2.30659922e-05 9.99996008e-01 -1.40549643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404391418 meters 0.05586168209922315 Centerline is valid? [True, True] Translation: X:227.17, Y:9.72, Z:-1.40 [[ 9.99961480e-01 -8.11477107e-03 3.34487756e-03 2.27166273e+02] [ 8.11488271e-03 9.99967074e-01 -1.98064288e-05 9.71742260e+00] [-3.34460670e-03 4.69489549e-05 9.99994406e-01 -1.40462426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46439141799996 meters 0.05567532993223109 Centerline is valid? [True, True] Translation: X:227.23, Y:9.71, Z:-1.41 [[ 9.99947754e-01 -9.63790335e-03 3.40600799e-03 2.27228530e+02] [ 9.63802776e-03 9.99953553e-01 -2.01122352e-05 9.71172481e+00] [-3.40565596e-03 5.29383840e-05 9.99994199e-01 -1.40538941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52439141799996 meters 0.05505501527385422 Centerline is valid? [True, True] Translation: X:227.29, Y:9.71, Z:-1.41 [[ 9.99953799e-01 -8.87298897e-03 3.69725386e-03 2.27290352e+02] [ 8.87313101e-03 9.99960633e-01 -2.20171374e-05 9.71056781e+00] [-3.69691295e-03 5.48223381e-05 9.99993165e-01 -1.40554359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58439141799997 meters 0.05539224514986007 Centerline is valid? [True, True] Translation: X:227.35, Y:9.71, Z:-1.41 [[ 9.99957610e-01 -7.84483442e-03 4.82039976e-03 2.27352630e+02] [ 7.84506499e-03 9.99969227e-01 -2.89250704e-05 9.70950226e+00] [-4.82002451e-03 6.67401937e-05 9.99988381e-01 -1.40561262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64439141799997 meters 0.055645877601818036 Centerline is valid? [True, True] Translation: X:227.41, Y:9.71, Z:-1.41 [[ 9.99966393e-01 -6.43806989e-03 5.07576360e-03 2.27414485e+02] [ 6.43830831e-03 9.99979273e-01 -3.06355164e-05 9.70808086e+00] [-5.07546117e-03 6.33138179e-05 9.99987118e-01 -1.40562971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70439141799997 meters 0.05578974985195139 Centerline is valid? [True, True] Translation: X:227.48, Y:9.70, Z:-1.41 [[ 9.99970433e-01 -6.83937469e-03 3.51499796e-03 2.27476004e+02] [ 6.83949178e-03 9.99976610e-01 -2.12927889e-05 9.69790678e+00] [-3.51477011e-03 4.53329589e-05 9.99993822e-01 -1.40731710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76439141799997 meters 0.05539751454984848 Centerline is valid? [True, True] Translation: X:227.54, Y:9.70, Z:-1.41 [[ 9.99955853e-01 -8.76315390e-03 3.39104168e-03 2.27537927e+02] [ 8.76327342e-03 9.99961602e-01 -2.03887081e-05 9.69810654e+00] [-3.39073280e-03 5.01044334e-05 9.99994250e-01 -1.40803179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82439141799998 meters 0.05555693907538834 Centerline is valid? [True, True] Translation: X:227.60, Y:9.70, Z:-1.41 [[ 9.99930095e-01 -1.17047712e-02 1.67463691e-03 2.27600172e+02] [ 1.17048048e-02 9.99931496e-01 -1.02654988e-05 9.69537218e+00] [-1.67440204e-03 2.98660793e-05 9.99998598e-01 -1.40918862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88439141799998 meters 0.055718156375368 Centerline is valid? [True, True] Translation: X:227.66, Y:9.69, Z:-1.41 [[ 9.99922282e-01 -1.24215479e-02 1.06560597e-03 2.27662229e+02] [ 1.24215619e-02 9.99922849e-01 -6.49403015e-06 9.69400941e+00] [-1.06544309e-03 1.97300159e-05 9.99999432e-01 -1.40981248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94439141799998 meters 0.05668545964379824 Centerline is valid? [True, True] Translation: X:227.72, Y:9.69, Z:-1.41 [[ 9.99913905e-01 -1.31003200e-02 7.50817069e-04 2.27724494e+02] [ 1.31003271e-02 9.99914187e-01 -4.54126669e-06 9.69358173e+00] [-7.50693148e-04 1.43768249e-05 9.99999718e-01 -1.40948853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00439141799998 meters 0.05539021153873883 Centerline is valid? [True, True] Translation: X:227.79, Y:9.69, Z:-1.41 [[ 9.99925964e-01 -1.21441693e-02 7.65014944e-04 2.27786615e+02] [ 1.21441764e-02 9.99926257e-01 -4.61480342e-06 9.69308054e+00] [-7.64902487e-04 1.39049382e-05 9.99999707e-01 -1.40846661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06439141799999 meters 0.05589368247531521 Centerline is valid? [True, True] Translation: X:227.85, Y:9.69, Z:-1.41 [[ 9.99944999e-01 -1.03115778e-02 1.91568046e-03 2.27847640e+02] [ 1.03116199e-02 9.99946834e-01 -1.20757977e-05 9.69219619e+00] [-1.91545409e-03 3.18289023e-05 9.99998165e-01 -1.40821254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124391418 meters 0.05594872025983431 Centerline is valid? [True, True] Translation: X:227.91, Y:9.69, Z:-1.41 [[ 9.99969074e-01 -7.10874059e-03 3.36415569e-03 2.27909638e+02] [ 7.10885282e-03 9.99974732e-01 -2.14016114e-05 9.69377041e+00] [-3.36391854e-03 4.53162371e-05 9.99994341e-01 -1.40730467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters 0.056086887692268696 Centerline is valid? [True, True] Translation: X:227.97, Y:9.69, Z:-1.41 [[ 9.99964233e-01 -7.44290541e-03 4.01699829e-03 2.27971694e+02] [ 7.44306855e-03 9.99972300e-01 -2.56653420e-05 9.69304191e+00] [-4.01669599e-03 5.55632176e-05 9.99991931e-01 -1.40729000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24439141799996 meters 0.05599745456940386 Centerline is valid? [True, True] Translation: X:228.03, Y:9.69, Z:-1.41 [[ 9.99943932e-01 -9.89404206e-03 3.77374885e-03 2.28033562e+02] [ 9.89420391e-03 9.99951051e-01 -2.42223541e-05 9.69259862e+00] [-3.77332447e-03 6.15592367e-05 9.99992879e-01 -1.40795932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30439141799997 meters 0.05567447382484147 Centerline is valid? [True, True] Translation: X:228.09, Y:9.69, Z:-1.41 [[ 9.99913183e-01 -1.30164408e-02 2.04900196e-03 2.28093932e+02] [ 1.30164952e-02 9.99915282e-01 -1.32273888e-05 9.68842740e+00] [-2.04865620e-03 3.98970646e-05 9.99997901e-01 -1.40982162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36439141799997 meters 0.05743355757885718 Centerline is valid? [True, True] Translation: X:228.16, Y:9.68, Z:-1.41 [[ 9.99911889e-01 -1.31792783e-02 1.58789823e-03 2.28155052e+02] [ 1.31793111e-02 9.99913149e-01 -1.01812583e-05 9.68410179e+00] [-1.58762614e-03 3.11077660e-05 9.99998739e-01 -1.41175984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42439141799997 meters 0.05610555420943153 Centerline is valid? [True, True] Translation: X:228.22, Y:9.69, Z:-1.41 [[ 9.99936583e-01 -1.08368243e-02 3.06490341e-03 2.28216731e+02] [ 1.08369360e-02 9.99941279e-01 -1.98382703e-05 9.68992510e+00] [-3.06450845e-03 5.30511745e-05 9.99995303e-01 -1.41033007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48439141799997 meters 0.05661815754627514 Centerline is valid? [True, True] Translation: X:228.28, Y:9.69, Z:-1.41 [[ 9.99958446e-01 -8.45275560e-03 3.41432272e-03 2.28277158e+02] [ 8.45288099e-03 9.99964274e-01 -2.22953204e-05 9.68966078e+00] [-3.41401228e-03 5.11552575e-05 9.99994171e-01 -1.41074622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54439141799998 meters 0.05608366237637805 Centerline is valid? [True, True] Translation: X:228.34, Y:9.69, Z:-1.41 [[ 9.99972283e-01 -6.61200736e-03 3.42274798e-03 2.28339049e+02] [ 6.61212246e-03 9.99978139e-01 -2.23128008e-05 9.69297480e+00] [-3.42252563e-03 4.49438111e-05 9.99994142e-01 -1.41116846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60439141799998 meters 0.05521689840089885 Centerline is valid? [True, True] Translation: X:228.40, Y:9.69, Z:-1.41 [[ 9.99963207e-01 -8.13227990e-03 2.72970568e-03 2.28401590e+02] [ 8.13235816e-03 9.99966932e-01 -1.75700599e-05 9.69197946e+00] [-2.72947253e-03 3.97683577e-05 9.99996274e-01 -1.41171702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66439141799998 meters 0.05631901122687689 Centerline is valid? [True, True] Translation: X:228.46, Y:9.69, Z:-1.41 [[ 9.99945907e-01 -1.00817030e-02 2.55782758e-03 2.28462834e+02] [ 1.00817788e-02 9.99949177e-01 -1.67505947e-05 9.68525747e+00] [-2.55752871e-03 4.25371405e-05 9.99996729e-01 -1.41286605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72439141799998 meters 0.05605743220134456 Centerline is valid? [True, True] Translation: X:228.52, Y:9.69, Z:-1.41 [[ 9.99899538e-01 -1.36410522e-02 3.85168953e-03 2.28523560e+02] [ 1.36412543e-02 9.99906953e-01 -2.61803770e-05 9.68881545e+00] [-3.85097401e-03 7.87196230e-05 9.99992582e-01 -1.41225985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78439141799998 meters 0.056069274409041615 Centerline is valid? [True, True] Translation: X:228.59, Y:9.69, Z:-1.41 [[ 9.99894111e-01 -1.41332649e-02 3.46673044e-03 2.28586178e+02] [ 1.41334314e-02 9.99900118e-01 -2.35237397e-05 9.68738563e+00] [-3.46605170e-03 7.25180455e-05 9.99993991e-01 -1.41292117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844391418 meters 0.055303836266276406 Centerline is valid? [True, True] Translation: X:228.65, Y:9.69, Z:-1.41 [[ 9.99915948e-01 -1.26822128e-02 2.69432025e-03 2.28647833e+02] [ 1.26823082e-02 9.99919576e-01 -1.83295412e-05 9.68569291e+00] [-2.69387110e-03 5.24982004e-05 9.99996370e-01 -1.41374175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904391418 meters 0.055792899401458686 Centerline is valid? [True, True] Translation: X:228.71, Y:9.69, Z:-1.41 [[ 9.99948090e-01 -9.58187765e-03 3.46480586e-03 2.28709319e+02] [ 9.58201750e-03 9.99954091e-01 -2.37653747e-05 9.68526925e+00] [-3.46441908e-03 5.69639715e-05 9.99993997e-01 -1.41364972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96439141799996 meters 0.05554481033644414 Centerline is valid? [True, True] Translation: X:228.77, Y:9.68, Z:-1.41 [[ 9.99964406e-01 -6.52545407e-03 5.34829121e-03 2.28769867e+02] [ 6.52574477e-03 9.99978706e-01 -3.69040118e-05 9.68387037e+00] [-5.34793651e-03 7.18042817e-05 9.99985697e-01 -1.41298323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02439141799996 meters 0.055381837672629455 Centerline is valid? [True, True] Translation: X:228.83, Y:9.68, Z:-1.41 [[ 9.99987256e-01 -2.88837513e-03 4.14076119e-03 2.28831289e+02] [ 2.88851839e-03 9.99995828e-01 -2.86183131e-05 9.68465775e+00] [-4.14066126e-03 4.05786132e-05 9.99991427e-01 -1.41379229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08439141799997 meters 0.055920741331799424 Centerline is valid? [True, True] Translation: X:228.89, Y:9.68, Z:-1.42 [[ 9.99994396e-01 -7.56905179e-04 3.26106079e-03 2.28892342e+02] [ 7.56982737e-04 9.99999713e-01 -2.25486560e-05 9.68346520e+00] [-3.26104279e-03 2.50170964e-05 9.99994682e-01 -1.41568763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14439141799997 meters 0.05585017902300176 Centerline is valid? [True, True] Translation: X:228.95, Y:9.68, Z:-1.42 [[ 9.99993431e-01 1.27088535e-03 3.39457530e-03 2.28954200e+02] [-1.27081243e-03 9.99999192e-01 -2.36376525e-05 9.68281811e+00] [-3.39460260e-03 1.93236288e-05 9.99994238e-01 -1.41519990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20439141799997 meters 0.05555409095487875 Centerline is valid? [True, True] Translation: X:229.02, Y:9.68, Z:-1.41 [[ 9.99992361e-01 2.19502338e-03 3.23405658e-03 2.29015802e+02] [-2.19496227e-03 9.99997591e-01 -2.24451596e-05 9.68135236e+00] [-3.23409806e-03 1.53463559e-05 9.99994770e-01 -1.41482667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26439141799997 meters 0.05598742695109063 Centerline is valid? [True, True] Translation: X:229.08, Y:9.68, Z:-1.42 [[ 9.99994480e-01 2.17780687e-03 2.50945104e-03 2.29076527e+02] [-2.17777017e-03 9.99997629e-01 -1.73573995e-05 9.67704010e+00] [-2.50948289e-03 1.18922961e-05 9.99996851e-01 -1.41614813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32439141799998 meters 0.05595525266110433 Centerline is valid? [True, True] Translation: X:229.14, Y:9.67, Z:-1.42 [[ 9.99997163e-01 1.30164307e-03 1.99488308e-03 2.29137030e+02] [-1.30161806e-03 9.99999153e-01 -1.38353410e-05 9.67096468e+00] [-1.99489940e-03 1.12387259e-05 9.99998010e-01 -1.41735378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38439141799998 meters 0.056343935170378515 Centerline is valid? [True, True] Translation: X:229.20, Y:9.67, Z:-1.42 [[ 9.99997805e-01 -5.93389212e-04 2.00935561e-03 2.29197753e+02] [ 5.93418819e-04 9.99999824e-01 -1.41383570e-05 9.66525092e+00] [-2.00934687e-03 1.53307154e-05 9.99997981e-01 -1.41791410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44439141799998 meters 0.05665097271890874 Centerline is valid? [True, True] Translation: X:229.26, Y:9.66, Z:-1.42 [[ 9.99994324e-01 -2.65506132e-03 2.07419643e-03 2.29259008e+02] [ 2.65509721e-03 9.99996475e-01 -1.45454088e-05 9.66196702e+00] [-2.07415050e-03 2.00525194e-05 9.99997849e-01 -1.41755860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50439141799998 meters 0.055986023728117215 Centerline is valid? [True, True] Translation: X:229.32, Y:9.66, Z:-1.42 [[ 9.99972802e-01 -7.04780154e-03 2.17331978e-03 2.29319834e+02] [ 7.04785151e-03 9.99975163e-01 -1.53343468e-05 9.65506574e+00] [-2.17315773e-03 3.06511648e-05 9.99997638e-01 -1.41766062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56439141799999 meters 0.05686036762325735 Centerline is valid? [True, True] Translation: X:229.38, Y:9.65, Z:-1.42 [[ 9.99936496e-01 -1.08906629e-02 2.89800851e-03 2.29380759e+02] [ 1.08907681e-02 9.99940694e-01 -2.05085148e-05 9.65130205e+00] [-2.89761329e-03 5.20687511e-05 9.99995801e-01 -1.41754654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624391418 meters 0.057290126506080126 Centerline is valid? [True, True] Translation: X:229.44, Y:9.64, Z:-1.42 [[ 9.99853449e-01 -1.67120397e-02 3.71332538e-03 2.29440536e+02] [ 1.67122532e-02 9.99860340e-01 -2.64750110e-05 9.63964970e+00] [-3.71236433e-03 8.85291653e-05 9.99993105e-01 -1.41794609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters 0.057122531814073375 Centerline is valid? [True, True] Translation: X:229.50, Y:9.64, Z:-1.42 [[ 9.99742159e-01 -2.24022800e-02 3.70861188e-03 2.29500701e+02] [ 2.24025320e-02 9.99749031e-01 -2.64165094e-05 9.63739436e+00] [-3.70708935e-03 1.09491994e-04 9.99993123e-01 -1.41813098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74439141799996 meters 0.058037377885175545 Centerline is valid? [True, True] Translation: X:229.56, Y:9.63, Z:-1.42 [[ 9.99594010e-01 -2.83773793e-02 2.55743641e-03 2.29560483e+02] [ 2.83775185e-02 9.99597277e-01 -1.81697369e-05 9.62731977e+00] [-2.55589087e-03 9.07360593e-05 9.99996730e-01 -1.41911611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80439141799997 meters 0.056435121175221516 Centerline is valid? [True, True] Translation: X:229.62, Y:9.63, Z:-1.42 [[ 9.99527998e-01 -3.06341701e-02 2.30861598e-03 2.29622083e+02] [ 3.06342895e-02 9.99530660e-01 -1.63694679e-05 9.63439905e+00] [-2.30703099e-03 8.70845517e-05 9.99997335e-01 -1.41884874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86439141799997 meters 0.055452663196818755 Centerline is valid? [True, True] Translation: X:229.68, Y:9.64, Z:-1.42 [[ 9.99393202e-01 -3.47909094e-02 1.67935131e-03 2.29682725e+02] [ 3.47909786e-02 9.99394611e-01 -1.19730149e-05 9.63915352e+00] [-1.67791810e-03 7.03920252e-05 9.99998590e-01 -1.41894789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92439141799997 meters 0.057065799305994466 Centerline is valid? [True, True] Translation: X:229.74, Y:9.63, Z:-1.42 [[ 9.99236267e-01 -3.90562077e-02 1.22267508e-03 2.29742723e+02] [ 3.90562474e-02 9.99237014e-01 -8.63600218e-06 9.62829877e+00] [-1.22140491e-03 5.63825071e-05 9.99999252e-01 -1.42019395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98439141799997 meters 0.05569790628327723 Centerline is valid? [True, True] Translation: X:229.80, Y:9.63, Z:-1.42 [[ 9.99184352e-01 -4.03686345e-02 1.00170308e-03 2.29804239e+02] [ 4.03686618e-02 9.99184853e-01 -7.08058731e-06 9.63266310e+00] [-1.00060071e-03 4.75122250e-05 9.99999498e-01 -1.42019326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04439141799998 meters 0.05623756074912425 Centerline is valid? [True, True] Translation: X:229.86, Y:9.63, Z:-1.42 [[ 9.99347039e-01 -3.61217889e-02 8.43864444e-04 2.29863972e+02] [ 3.61218069e-02 9.99347395e-01 -6.05530278e-06 9.63142940e+00] [-8.43095005e-04 3.65332574e-05 9.99999644e-01 -1.42121144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10439141799998 meters 0.05696974995013801 Centerline is valid? [True, True] Translation: X:229.92, Y:9.63, Z:-1.42 [[ 9.99618582e-01 -2.75495902e-02 1.92620773e-03 2.29923858e+02] [ 2.75496679e-02 9.99620436e-01 -1.37896576e-05 9.63384319e+00] [-1.92509671e-03 6.68507811e-05 9.99998145e-01 -1.42095642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16439141799998 meters 0.05806631345514675 Centerline is valid? [True, True] Translation: X:229.98, Y:9.63, Z:-1.42 [[ 9.99787495e-01 -2.04900744e-02 2.26297917e-03 2.29983781e+02] [ 2.04901636e-02 9.99790054e-01 -1.62406512e-05 9.62713770e+00] [-2.26217130e-03 6.26060134e-05 9.99997439e-01 -1.42200423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22439141799998 meters 0.0569007028383967 Centerline is valid? [True, True] Translation: X:230.04, Y:9.64, Z:-1.42 [[ 9.99943723e-01 -1.00637646e-02 3.35737475e-03 2.30044753e+02] [ 1.00639021e-02 9.99949357e-01 -2.40630624e-05 9.63887854e+00] [-3.35696256e-03 5.78499989e-05 9.99994364e-01 -1.42127862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28439141799998 meters 0.057588594669971245 Centerline is valid? [True, True] Translation: X:230.11, Y:9.65, Z:-1.42 [[ 9.99988380e-01 -3.25949813e-03 3.55170241e-03 2.30105931e+02] [ 3.25960924e-03 9.99994687e-01 -2.54956447e-05 9.64720014e+00] [-3.55160043e-03 3.70725104e-05 9.99993692e-01 -1.42116015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344391418 meters 0.05669342751129405 Centerline is valid? [True, True] Translation: X:230.17, Y:9.65, Z:-1.42 [[ 9.99976875e-01 5.79162600e-03 3.56476335e-03 2.30166627e+02] [-5.79157148e-03 9.99983228e-01 -2.56162209e-05 9.65407733e+00] [-3.56485193e-03 4.97004675e-06 9.99993646e-01 -1.42177909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters 0.05631314880557264 Centerline is valid? [True, True] Translation: X:230.23, Y:9.66, Z:-1.42 [[ 9.99919782e-01 1.24251659e-02 2.45850188e-03 2.30227070e+02] [-1.24251600e-02 9.99922805e-01 -1.76715594e-05 9.65622639e+00] [-2.45853167e-03 -1.28771374e-05 9.99996978e-01 -1.42205394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46439141799996 meters 0.05698342332812347 Centerline is valid? [True, True] Translation: X:230.29, Y:9.66, Z:-1.42 [[ 9.99897702e-01 1.40221845e-02 2.82200863e-03 2.30285507e+02] [-1.40221823e-02 9.99901684e-01 -2.05591625e-05 9.65781193e+00] [-2.82201947e-03 -1.90136602e-05 9.99996018e-01 -1.42349757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52439141799996 meters 0.05639345211212771 Centerline is valid? [True, True] Translation: X:230.34, Y:9.65, Z:-1.42 [[ 9.99923919e-01 1.19988038e-02 2.86105453e-03 2.30344404e+02] [-1.19987944e-02 9.99928012e-01 -2.04791797e-05 9.65279105e+00] [-2.86109429e-03 -1.38515833e-05 9.99995907e-01 -1.42334877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58439141799997 meters 0.05675019319699444 Centerline is valid? [True, True] Translation: X:230.40, Y:9.65, Z:-1.42 [[ 9.99983631e-01 4.39810200e-03 3.65997068e-03 2.30404481e+02] [-4.39803603e-03 9.99990328e-01 -2.60731401e-05 9.64544523e+00] [-3.66004995e-03 9.97603041e-06 9.99993302e-01 -1.42404851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64439141799997 meters 0.05649461487725293 Centerline is valid? [True, True] Translation: X:230.47, Y:9.64, Z:-1.42 [[ 9.99962692e-01 -6.62051338e-03 5.54824926e-03 2.30465037e+02] [ 6.62083452e-03 9.99978081e-01 -3.95171269e-05 9.63589736e+00] [-5.54786602e-03 7.62496928e-05 9.99984608e-01 -1.42250439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70439141799997 meters 0.05686261610461975 Centerline is valid? [True, True] Translation: X:230.52, Y:9.62, Z:-1.42 [[ 9.99891124e-01 -1.36343962e-02 5.64300051e-03 2.30524153e+02] [ 1.36348407e-02 9.99907040e-01 -4.02907816e-05 9.62347969e+00] [-5.64192660e-03 1.17227808e-04 9.99984077e-01 -1.42283963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76439141799997 meters 0.05780360595329284 Centerline is valid? [True, True] Translation: X:230.58, Y:9.62, Z:-1.42 [[ 9.99720249e-01 -2.31156692e-02 5.00890576e-03 2.30584433e+02] [ 2.31161385e-02 9.99732786e-01 -3.58180991e-05 9.61513958e+00] [-5.00673935e-03 1.51594638e-04 9.99987455e-01 -1.42423592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82439141799998 meters 0.05785789354110276 Centerline is valid? [True, True] Translation: X:230.64, Y:9.61, Z:-1.43 [[ 9.99613513e-01 -2.73800419e-02 4.81221256e-03 2.30644484e+02] [ 2.73805245e-02 9.99625083e-01 -3.44158533e-05 9.60939653e+00] [-4.80946607e-03 1.66163456e-04 9.99988421e-01 -1.42509012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88439141799998 meters 0.05800744887515889 Centerline is valid? [True, True] Translation: X:230.71, Y:9.61, Z:-1.43 [[ 9.99558708e-01 -2.94135185e-02 4.15148365e-03 2.30705092e+02] [ 2.94138951e-02 9.99567317e-01 -2.96954711e-05 9.60594286e+00] [-4.14881392e-03 1.51793671e-04 9.99991382e-01 -1.42630749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94439141799998 meters 0.05887650386195733 Centerline is valid? [True, True] Translation: X:230.77, Y:9.60, Z:-1.43 [[ 9.99643398e-01 -2.64977942e-02 3.30800886e-03 2.30765207e+02] [ 2.64980175e-02 9.99648866e-01 -2.36706119e-05 9.60047976e+00] [-3.30622009e-03 1.11317847e-04 9.99994528e-01 -1.42794424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00439141799998 meters 0.05934258216387907 Centerline is valid? [True, True] Translation: X:230.83, Y:9.60, Z:-1.43 [[ 9.99767456e-01 -2.13375414e-02 3.12142648e-03 2.30826180e+02] [ 2.13377152e-02 9.99772325e-01 -2.23890289e-05 9.60483638e+00] [-3.12023808e-03 8.89879317e-05 9.99995128e-01 -1.42863553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06439141799999 meters 0.057511648120686695 Centerline is valid? [True, True] Translation: X:230.89, Y:9.61, Z:-1.43 [[ 9.99850178e-01 -1.69756023e-02 3.38381340e-03 2.30886607e+02] [ 1.69757816e-02 9.99855901e-01 -2.42555752e-05 9.61196403e+00] [-3.38291404e-03 8.16948184e-05 9.99994275e-01 -1.42842670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124391418 meters 0.05735085209694888 Centerline is valid? [True, True] Translation: X:230.95, Y:9.62, Z:-1.43 [[ 9.99951823e-01 -9.62311110e-03 1.93560424e-03 2.30947241e+02] [ 9.62315606e-03 9.99953696e-01 -1.39177472e-05 9.62021413e+00] [-1.93538068e-03 3.25436984e-05 9.99998127e-01 -1.42898779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters 0.056841527390768254 Centerline is valid? [True, True] Translation: X:231.01, Y:9.62, Z:-1.43 [[ 9.99987082e-01 -5.02551111e-03 7.61060055e-04 2.31008798e+02] [ 5.02551667e-03 9.99987372e-01 -5.38736704e-06 9.62409240e+00] [-7.61023370e-04 9.21201744e-06 9.99999710e-01 -1.42897512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24439141799996 meters 0.05646078581469151 Centerline is valid? [True, True] Translation: X:231.07, Y:9.62, Z:-1.43 [[ 9.99999340e-01 1.07080357e-03 -4.15427088e-04 2.31069656e+02] [-1.07080237e-03 9.99999427e-01 3.09760556e-06 9.62428966e+00] [ 4.15430166e-04 -2.65276320e-06 9.99999914e-01 -1.43165030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30439141799997 meters 0.05756378063852315 Centerline is valid? [True, True] Translation: X:231.13, Y:9.63, Z:-1.43 [[ 9.99990589e-01 4.33760311e-03 -7.95011218e-05 2.31129423e+02] [-4.33760308e-03 9.99990593e-01 5.25900434e-07 9.62856453e+00] [ 7.95026549e-05 -1.81051170e-07 9.99999997e-01 -1.42914283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36439141799997 meters 0.05690991677240631 Centerline is valid? [True, True] Translation: X:231.19, Y:9.63, Z:-1.43 [[ 9.99988714e-01 4.73852564e-03 3.44987934e-04 2.31188129e+02] [-4.73852495e-03 9.99988773e-01 -2.81707349e-06 9.62996865e+00] [-3.44997410e-04 1.18230777e-06 9.99999940e-01 -1.42871121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42439141799997 meters 0.057003146957904816 Centerline is valid? [True, True] Translation: X:231.25, Y:9.63, Z:-1.43 [[ 9.99994201e-01 3.39218038e-03 3.03098702e-04 2.31246391e+02] [-3.39217985e-03 9.99994247e-01 -2.27204068e-06 9.62934303e+00] [-3.03104666e-04 1.24386220e-06 9.99999954e-01 -1.42914113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48439141799997 meters 0.056923698585360456 Centerline is valid? [True, True] Translation: X:231.31, Y:9.63, Z:-1.43 [[ 9.99997154e-01 -1.85675550e-03 1.49794801e-03 2.31305549e+02] [ 1.85677372e-03 9.99998276e-01 -1.07714358e-05 9.62539223e+00] [-1.49792543e-03 1.35527556e-05 9.99998878e-01 -1.42882516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54439141799998 meters 0.05761995568971268 Centerline is valid? [True, True] Translation: X:231.36, Y:9.62, Z:-1.43 [[ 9.99944973e-01 -1.03707600e-02 1.58060347e-03 2.31364912e+02] [ 1.03707906e-02 9.99946222e-01 -1.11765679e-05 9.61627561e+00] [-1.58040256e-03 2.75680605e-05 9.99998751e-01 -1.42886795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60439141799998 meters 0.058422949978490395 Centerline is valid? [True, True] Translation: X:231.43, Y:9.61, Z:-1.43 [[ 9.99776235e-01 -2.10459167e-02 2.13293863e-03 2.31425100e+02] [ 2.10459970e-02 9.99778508e-01 -1.52214096e-05 9.60704282e+00] [-2.13214585e-03 6.01078235e-05 9.99997725e-01 -1.42895793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66439141799998 meters 0.058027310485834586 Centerline is valid? [True, True] Translation: X:231.48, Y:9.61, Z:-1.43 [[ 9.99609163e-01 -2.78847596e-02 1.99043310e-03 2.31484984e+02] [ 2.78848432e-02 9.99611142e-01 -1.42477219e-05 9.60594456e+00] [-1.98926181e-03 6.97450682e-05 9.99998019e-01 -1.42889206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72439141799998 meters 0.056070005361362564 Centerline is valid? [True, True] Translation: X:231.55, Y:9.62, Z:-1.43 [[ 9.99373386e-01 -3.53393580e-02 1.99120043e-03 2.31545086e+02] [ 3.53394563e-02 9.99375366e-01 -1.41996240e-05 9.61832312e+00] [-1.98945485e-03 8.45586668e-05 9.99998017e-01 -1.42816553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78439141799998 meters 0.05599157147499685 Centerline is valid? [True, True] Translation: X:231.61, Y:9.62, Z:-1.43 [[ 9.98983985e-01 -4.50646538e-02 4.17973787e-04 2.31605621e+02] [ 4.50646590e-02 9.98984072e-01 -2.97024141e-06 9.61501471e+00] [-4.17415303e-04 2.18030698e-05 9.99999913e-01 -1.42921461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844391418 meters 0.05586318519346549 Centerline is valid? [True, True] Translation: X:231.67, Y:9.63, Z:-1.43 [[ 9.98691200e-01 -5.11413026e-02 6.73462332e-04 2.31666565e+02] [ 5.11413174e-02 9.98691427e-01 -4.80078039e-06 9.62547861e+00] [-6.72335539e-04 3.92362480e-05 9.99999773e-01 -1.42892655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters 0.0570058523869794 Centerline is valid? [True, True] Translation: X:231.73, Y:9.61, Z:-1.43 [[ 9.98374959e-01 -5.69794366e-02 8.85716631e-04 2.31726303e+02] [ 5.69794645e-02 9.98375351e-01 -6.32618978e-06 9.61077165e+00] [-8.83917189e-04 5.67835688e-05 9.99999608e-01 -1.43042526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96439141799996 meters 0.05578297733804623 Centerline is valid? [True, True] Translation: X:231.79, Y:9.61, Z:-1.43 [[ 9.98317513e-01 -5.79768421e-02 9.10697874e-04 2.31787718e+02] [ 5.79768719e-02 9.98317926e-01 -6.40933642e-06 9.61276625e+00] [-9.08794421e-04 5.91979668e-05 9.99999585e-01 -1.43093811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02439141799996 meters 0.05548027706553709 Centerline is valid? [True, True] Translation: X:231.85, Y:9.63, Z:-1.43 [[ 9.98464588e-01 -5.53784996e-02 1.29940187e-03 2.31848862e+02] [ 5.53785584e-02 9.98465430e-01 -9.29534271e-06 9.62801474e+00] [-1.29689309e-03 8.12400729e-05 9.99999156e-01 -1.43088102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08439141799997 meters 0.061185488557983 Centerline is valid? [True, True] Translation: X:231.91, Y:9.60, Z:-1.43 [[ 9.98804131e-01 -4.88884554e-02 4.75533831e-04 2.31908293e+02] [ 4.88884626e-02 9.98804244e-01 -3.43025694e-06 9.60459128e+00] [-4.74797509e-04 2.66742727e-05 9.99999887e-01 -1.43374218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14439141799997 meters 0.054996015654618695 Centerline is valid? [True, True] Translation: X:231.97, Y:9.63, Z:-1.43 [[ 9.99112982e-01 -4.21098957e-02 -7.12969110e-05 2.31969277e+02] [ 4.21098959e-02 9.99112985e-01 5.86427887e-07 9.63412792e+00] [ 7.12089750e-05 -3.58821321e-06 9.99999997e-01 -1.43150252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20439141799997 meters 0.05610179381241485 Centerline is valid? [True, True] Translation: X:232.03, Y:9.64, Z:-1.43 [[ 9.99296117e-01 -3.75123941e-02 -3.02362134e-04 2.32030183e+02] [ 3.75123965e-02 9.99296162e-01 2.21424267e-06 9.63866712e+00] [ 3.02066258e-04 -1.35550123e-05 9.99999954e-01 -1.43204044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26439141799997 meters 0.05582858688974266 Centerline is valid? [True, True] Translation: X:232.09, Y:9.65, Z:-1.43 [[ 9.99536318e-01 -3.04449157e-02 5.06098412e-04 2.32090927e+02] [ 3.04449215e-02 9.99536446e-01 -3.61452860e-06 9.64664966e+00] [-5.05753764e-04 1.90209790e-05 9.99999872e-01 -1.43198809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32439141799998 meters 0.055627092709126955 Centerline is valid? [True, True] Translation: X:232.15, Y:9.66, Z:-1.43 [[ 9.99742250e-01 -2.26613768e-02 1.37700624e-03 2.32150366e+02] [ 2.26614120e-02 9.99743197e-01 -9.92267318e-06 9.65572409e+00] [-1.37642776e-03 4.11250213e-05 9.99999052e-01 -1.43189054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38439141799998 meters 0.05558496537992555 Centerline is valid? [True, True] Translation: X:232.21, Y:9.67, Z:-1.43 [[ 9.99880688e-01 -1.52231752e-02 2.62020854e-03 2.32210975e+02] [ 1.52232766e-02 9.99884119e-01 -1.87642271e-05 9.66520577e+00] [-2.61961925e-03 5.86501477e-05 9.99996567e-01 -1.43238483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44439141799998 meters 0.05549976475745575 Centerline is valid? [True, True] Translation: X:232.27, Y:9.67, Z:-1.43 [[ 9.99943085e-01 -1.03384203e-02 2.63498040e-03 2.32272177e+02] [ 1.03385059e-02 9.99946556e-01 -1.88872727e-05 9.67016384e+00] [-2.63464431e-03 4.61279581e-05 9.99996528e-01 -1.43253293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50439141799998 meters 0.05503488950287656 Centerline is valid? [True, True] Translation: X:232.33, Y:9.68, Z:-1.43 [[ 9.99985172e-01 -4.63321011e-03 2.86176736e-03 2.32332476e+02] [ 4.63328794e-03 9.99989266e-01 -2.05667830e-05 9.67590325e+00] [-2.86164135e-03 3.38258702e-05 9.99995905e-01 -1.43321895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56439141799999 meters 0.05570491614360299 Centerline is valid? [True, True] Translation: X:232.39, Y:9.68, Z:-1.43 [[ 9.99995115e-01 -1.17512450e-03 2.89623153e-03 2.32393608e+02] [ 1.17518956e-03 9.99999309e-01 -2.07635284e-05 9.68126150e+00] [-2.89620513e-03 2.41670481e-05 9.99995806e-01 -1.43397870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624391418 meters 0.05555088539109627 Centerline is valid? [True, True] Translation: X:232.46, Y:9.68, Z:-1.43 [[ 9.99997558e-01 -4.78238367e-04 2.15779981e-03 2.32455141e+02] [ 4.78272815e-04 9.99999886e-01 -1.54485846e-05 9.68342710e+00] [-2.15779218e-03 1.64805638e-05 9.99997672e-01 -1.43460024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters 0.05503890341982534 Centerline is valid? [True, True] Translation: X:232.52, Y:9.68, Z:-1.44 [[ 9.99996287e-01 -2.29278858e-03 1.47247161e-03 2.32516220e+02] [ 2.29280603e-03 9.99997371e-01 -1.01612827e-05 9.68264557e+00] [-1.47244444e-03 1.35373368e-05 9.99998916e-01 -1.43629574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74439141799996 meters 0.05560357197171466 Centerline is valid? [True, True] Translation: X:232.58, Y:9.68, Z:-1.44 [[ 9.99966315e-01 -8.13002196e-03 1.12800954e-03 2.32577091e+02] [ 8.13003635e-03 9.99966951e-01 -8.16781365e-06 9.68254420e+00] [-1.12790585e-03 1.73382970e-05 9.99999364e-01 -1.43622561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80439141799997 meters 0.05538956499412622 Centerline is valid? [True, True] Translation: X:232.64, Y:9.68, Z:-1.44 [[ 9.99881941e-01 -1.53177876e-02 1.21246265e-03 2.32637252e+02] [ 1.53178096e-02 9.99882675e-01 -8.91054961e-06 9.67987117e+00] [-1.21218391e-03 2.74817697e-05 9.99999265e-01 -1.43651166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86439141799997 meters 0.05517631730564223 Centerline is valid? [True, True] Translation: X:232.70, Y:9.68, Z:-1.44 [[ 9.99760425e-01 -2.18283968e-02 1.61670410e-03 2.32697631e+02] [ 2.18284445e-02 9.99761731e-01 -1.18741624e-05 9.68114861e+00] [-1.61605970e-03 4.71614534e-05 9.99998693e-01 -1.43572838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92439141799997 meters 0.05576870534169681 Centerline is valid? [True, True] Translation: X:232.76, Y:9.67, Z:-1.44 [[ 9.99657906e-01 -2.60144120e-02 2.70594806e-03 2.32757006e+02] [ 2.60145611e-02 9.99661564e-01 -1.99122489e-05 9.67142873e+00] [-2.70451426e-03 9.02994881e-05 9.99996339e-01 -1.43759455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98439141799997 meters 0.05791204557676581 Centerline is valid? [True, True] Translation: X:232.82, Y:9.66, Z:-1.44 [[ 9.99489459e-01 -3.18423047e-02 2.62464335e-03 2.32816620e+02] [ 3.18424650e-02 9.99492900e-01 -1.92846332e-05 9.66263351e+00] [-2.62269833e-03 1.02849902e-04 9.99996555e-01 -1.43825081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04439141799998 meters 0.05637706105721628 Centerline is valid? [True, True] Translation: X:232.88, Y:9.67, Z:-1.44 [[ 9.99324009e-01 -3.66454615e-02 2.93861137e-03 2.32876947e+02] [ 3.66456833e-02 9.99328321e-01 -2.16397460e-05 9.66985835e+00] [-2.93584457e-03 1.29312539e-04 9.99995682e-01 -1.43809773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10439141799998 meters 0.05367761003570328 Centerline is valid? [True, True] Translation: X:232.94, Y:9.68, Z:-1.44 [[ 9.99036316e-01 -4.37577762e-02 3.41987594e-03 2.32937468e+02] [ 4.37581182e-02 9.99042155e-01 -2.52202064e-05 9.68386325e+00] [-3.41549664e-03 1.74843238e-04 9.99994152e-01 -1.43774204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16439141799998 meters 0.05445911997659169 Centerline is valid? [True, True] Translation: X:233.00, Y:9.68, Z:-1.44 [[ 9.98881450e-01 -4.72172840e-02 2.52507127e-03 2.32997693e+02] [ 4.72174815e-02 9.98884633e-01 -1.85953873e-05 9.68239739e+00] [-2.52137686e-03 1.37802093e-04 9.99996812e-01 -1.43823776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22439141799998 meters 0.05416259899421164 Centerline is valid? [True, True] Translation: X:233.06, Y:9.68, Z:-1.44 [[ 9.98884191e-01 -4.71622635e-02 2.46870137e-03 2.33060128e+02] [ 4.71624513e-02 9.98887232e-01 -1.78679225e-05 9.68225954e+00] [-2.46511159e-03 1.34277994e-04 9.99996953e-01 -1.43863641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28439141799998 meters 0.05490541565781914 Centerline is valid? [True, True] Translation: X:233.12, Y:9.68, Z:-1.44 [[ 9.99001938e-01 -4.45925528e-02 2.57512235e-03 2.33119708e+02] [ 4.45927505e-02 9.99005248e-01 -1.93692682e-05 9.67843689e+00] [-2.57169702e-03 1.34181725e-04 9.99996684e-01 -1.43965076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344391418 meters 0.05538612349288509 Centerline is valid? [True, True] Translation: X:233.18, Y:9.68, Z:-1.44 [[ 9.99225361e-01 -3.93036226e-02 1.97540447e-03 2.33179409e+02] [ 3.93037287e-02 9.99227310e-01 -1.48905300e-05 9.68072267e+00] [-1.97329284e-03 9.25197565e-05 9.99998049e-01 -1.44071883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters 0.05419864136641386 Centerline is valid? [True, True] Translation: X:233.24, Y:9.70, Z:-1.44 [[ 9.99538695e-01 -3.03322592e-02 1.53344875e-03 2.33240373e+02] [ 3.03323125e-02 9.99539869e-01 -1.15208391e-05 9.69555607e+00] [-1.53239371e-03 5.80285714e-05 9.99998824e-01 -1.43986960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46439141799996 meters 0.054183299999620946 Centerline is valid? [True, True] Translation: X:233.30, Y:9.70, Z:-1.44 [[ 9.99723394e-01 -2.33705741e-02 2.63646437e-03 2.33300794e+02] [ 2.33707075e-02 9.99726868e-01 -1.98121663e-05 9.70384207e+00] [-2.63528124e-03 8.14227237e-05 9.99996524e-01 -1.43938466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52439141799996 meters 0.05491409623980399 Centerline is valid? [True, True] Translation: X:233.36, Y:9.71, Z:-1.44 [[ 9.99913985e-01 -1.27088788e-02 3.24148480e-03 2.33360680e+02] [ 1.27090246e-02 9.99919237e-01 -2.43777845e-05 9.70598626e+00] [-3.24091319e-03 6.55717977e-05 9.99994746e-01 -1.43886023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58439141799997 meters 0.05444439531771714 Centerline is valid? [True, True] Translation: X:233.42, Y:9.71, Z:-1.44 [[ 9.99989186e-01 -3.04027818e-03 3.51927299e-03 2.33420011e+02] [ 3.04038996e-03 9.99995378e-01 -2.64140100e-05 9.71316763e+00] [-3.51917642e-03 3.71136866e-05 9.99993807e-01 -1.43927121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64439141799997 meters 0.054309612275795914 Centerline is valid? [True, True] Translation: X:233.48, Y:9.72, Z:-1.44 [[ 9.99993150e-01 7.61735421e-05 3.70067282e-03 2.33480798e+02] [-7.60714161e-05 9.99999997e-01 -2.77373283e-05 9.71527185e+00] [-3.70067493e-03 2.74556229e-05 9.99993152e-01 -1.43974886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70439141799997 meters 0.05471161614561554 Centerline is valid? [True, True] Translation: X:233.54, Y:9.72, Z:-1.44 [[ 9.99952820e-01 8.60498857e-03 4.50691046e-03 2.33542374e+02] [-8.60492332e-03 9.99962976e-01 -3.38699733e-05 9.72313686e+00] [-4.50703505e-03 -4.91324367e-06 9.99989843e-01 -1.43929645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76439141799997 meters 0.054698466818562455 Centerline is valid? [True, True] Translation: X:233.60, Y:9.73, Z:-1.44 [[ 9.99893556e-01 1.39439538e-02 4.29454653e-03 2.33601370e+02] [-1.39439431e-02 9.99902778e-01 -3.24269382e-05 9.72543928e+00] [-4.29458117e-03 -2.74594260e-05 9.99990778e-01 -1.43974936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82439141799998 meters 0.054900234587100666 Centerline is valid? [True, True] Translation: X:233.66, Y:9.73, Z:-1.44 [[ 9.99884679e-01 1.46355595e-02 4.05316761e-03 2.33660538e+02] [-1.46355563e-02 9.99892894e-01 -3.04555148e-05 9.72636606e+00] [-4.05317922e-03 -2.88683600e-05 9.99991785e-01 -1.44046322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88439141799998 meters 0.055221116900043485 Centerline is valid? [True, True] Translation: X:233.72, Y:9.72, Z:-1.44 [[ 9.99925010e-01 1.15227068e-02 4.14755673e-03 2.33719722e+02] [-1.15226770e-02 9.99933611e-01 -3.10743567e-05 9.72388169e+00] [-4.14763944e-03 -1.67189303e-05 9.99991398e-01 -1.44197604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94439141799998 meters 0.05462693930515496 Centerline is valid? [True, True] Translation: X:233.78, Y:9.72, Z:-1.44 [[ 9.99976138e-01 4.94738973e-03 4.82158919e-03 2.33778193e+02] [-4.94727377e-03 9.99987762e-01 -3.59765259e-05 9.71794539e+00] [-4.82170817e-03 1.21219457e-05 9.99988375e-01 -1.44268801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00439141799998 meters 0.054254179411815734 Centerline is valid? [True, True] Translation: X:233.84, Y:9.71, Z:-1.44 [[ 9.99982936e-01 -3.45171970e-03 4.71314537e-03 2.33839724e+02] [ 3.45192298e-03 9.99994042e-01 -3.49965196e-05 9.70966918e+00] [-4.71299649e-03 5.12653373e-05 9.99988892e-01 -1.44413014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06439141799999 meters 0.054505758624113713 Centerline is valid? [True, True] Translation: X:233.90, Y:9.70, Z:-1.44 [[ 9.99950877e-01 -9.02091290e-03 4.10681122e-03 2.33900479e+02] [ 9.02111448e-03 9.99959308e-01 -3.05630906e-05 9.70390820e+00] [-4.10636840e-03 6.76096034e-05 9.99991567e-01 -1.44454301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124391418 meters 0.05469509316221151 Centerline is valid? [True, True] Translation: X:233.96, Y:9.69, Z:-1.45 [[ 9.99869990e-01 -1.56126529e-02 4.03097997e-03 2.33960225e+02] [ 1.56129009e-02 9.99878111e-01 -3.00589176e-05 9.69383981e+00] [-4.03001934e-03 9.29903003e-05 9.99991875e-01 -1.44540231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters 0.05496685144124995 Centerline is valid? [True, True] Translation: X:234.02, Y:9.69, Z:-1.45 [[ 9.99829851e-01 -1.79259885e-02 4.35054022e-03 2.34021531e+02] [ 1.79262990e-02 9.99839310e-01 -3.23729544e-05 9.69093729e+00] [-4.34926081e-03 1.10356531e-04 9.99990536e-01 -1.44537207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24439141799996 meters 0.054955438276236696 Centerline is valid? [True, True] Translation: X:234.08, Y:9.69, Z:-1.45 [[ 9.99849686e-01 -1.66996718e-02 4.66117500e-03 2.34084244e+02] [ 1.67000151e-02 9.99860544e-01 -3.47335496e-05 9.68828966e+00] [-4.65994493e-03 1.12570021e-04 9.99989136e-01 -1.44629287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30439141799997 meters 0.05458911058653028 Centerline is valid? [True, True] Translation: X:234.15, Y:9.69, Z:-1.45 [[ 9.99932856e-01 -1.08555817e-02 4.05467572e-03 2.34145051e+02] [ 1.08557943e-02 9.99941074e-01 -3.04187178e-05 9.68845002e+00] [-4.05410658e-03 7.44334010e-05 9.99991779e-01 -1.44725719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36439141799997 meters 0.05481881192571493 Centerline is valid? [True, True] Translation: X:234.21, Y:9.69, Z:-1.45 [[ 9.99990792e-01 -1.06778190e-03 4.15647237e-03 2.34205302e+02] [ 1.06792079e-03 9.99999429e-01 -3.11950563e-05 9.68829543e+00] [-4.15643669e-03 3.56335523e-05 9.99991361e-01 -1.44779318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42439141799997 meters 0.05533921462673839 Centerline is valid? [True, True] Translation: X:234.27, Y:9.69, Z:-1.45 [[ 9.99941192e-01 9.70973888e-03 4.83042050e-03 2.34266826e+02] [-9.70967717e-03 9.99952859e-01 -3.62263058e-05 9.68948477e+00] [-4.83054454e-03 -1.06776483e-05 9.99988333e-01 -1.44726636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48439141799997 meters 0.05565291963314873 Centerline is valid? [True, True] Translation: X:234.33, Y:9.69, Z:-1.45 [[ 9.99837655e-01 1.75966975e-02 3.87559048e-03 2.34326068e+02] [-1.75967166e-02 9.99845165e-01 -2.91822180e-05 9.68870384e+00] [-3.87550392e-03 -3.90201868e-05 9.99992489e-01 -1.44823433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54439141799998 meters 0.05600351998659063 Centerline is valid? [True, True] Translation: X:234.38, Y:9.69, Z:-1.45 [[ 9.99796022e-01 2.00238493e-02 2.63804240e-03 2.34384269e+02] [-2.00238664e-02 9.99799502e-01 -1.99388560e-05 9.68620381e+00] [-2.63791273e-03 -3.28890198e-05 9.99996520e-01 -1.45016915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60439141799998 meters 0.05667650137643143 Centerline is valid? [True, True] Translation: X:234.44, Y:9.68, Z:-1.45 [[ 9.99814915e-01 1.91992624e-02 1.23414214e-03 2.34441946e+02] [-1.91992654e-02 9.99815677e-01 -9.41082082e-06 9.68220077e+00] [-1.23409534e-03 -1.42855435e-05 9.99999238e-01 -1.45178933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66439141799998 meters 0.05583427006471539 Centerline is valid? [True, True] Translation: X:234.50, Y:9.67, Z:-1.45 [[ 9.99908930e-01 1.33591974e-02 1.91426727e-03 2.34501366e+02] [-1.33591945e-02 9.99910762e-01 -1.43049662e-05 9.66960496e+00] [-1.91428755e-03 -1.12694052e-05 9.99998168e-01 -1.44976162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72439141799998 meters 0.0556327911218171 Centerline is valid? [True, True] Translation: X:234.56, Y:9.66, Z:-1.45 [[ 9.99973477e-01 6.97487607e-03 2.09670302e-03 2.34559662e+02] [-6.97485850e-03 9.99975675e-01 -1.56959437e-05 9.66349401e+00] [-2.09676149e-03 1.07132058e-06 9.99997802e-01 -1.45058686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78439141799998 meters 0.056310085253908584 Centerline is valid? [True, True] Translation: X:234.62, Y:9.65, Z:-1.45 [[ 9.99985167e-01 -4.29112579e-03 3.35445985e-03 2.34618938e+02] [ 4.29123261e-03 9.99990792e-01 -2.46491319e-05 9.64795863e+00] [-3.35432319e-03 3.90435338e-05 9.99994373e-01 -1.45042537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844391418 meters 0.05539447073017885 Centerline is valid? [True, True] Translation: X:234.68, Y:9.64, Z:-1.45 [[ 9.99877331e-01 -1.48889045e-02 4.86245948e-03 2.34679485e+02] [ 1.48892538e-02 9.99889148e-01 -3.56381107e-05 9.64013925e+00] [-4.86138985e-03 1.08032132e-04 9.99988178e-01 -1.44974408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters 0.056226992762427354 Centerline is valid? [True, True] Translation: X:234.74, Y:9.63, Z:-1.45 [[ 9.99778021e-01 -2.04636219e-02 5.01491916e-03 2.34739366e+02] [ 2.04640641e-02 9.99790588e-01 -3.68777761e-05 9.62587966e+00] [-5.01311433e-03 1.39495217e-04 9.99987425e-01 -1.45016518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96439141799996 meters 0.057001883242704054 Centerline is valid? [True, True] Translation: X:234.80, Y:9.62, Z:-1.45 [[ 9.99613179e-01 -2.73387020e-02 5.10755377e-03 2.34799696e+02] [ 2.73392501e-02 9.99626212e-01 -3.75139673e-05 9.61915296e+00] [-5.10461904e-03 1.77136146e-04 9.99986956e-01 -1.45164632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02439141799996 meters 0.056410627233907364 Centerline is valid? [True, True] Translation: X:234.86, Y:9.62, Z:-1.45 [[ 9.99506782e-01 -3.10566983e-02 4.65557289e-03 2.34860245e+02] [ 3.10571940e-02 9.99517608e-01 -3.42086152e-05 9.61668838e+00] [-4.65226468e-03 1.78780774e-04 9.99989162e-01 -1.45245854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08439141799997 meters 0.056955195291813 Centerline is valid? [True, True] Translation: X:234.92, Y:9.62, Z:-1.45 [[ 9.99456345e-01 -3.27353376e-02 3.92573964e-03 2.34921315e+02] [ 3.27357029e-02 9.99464043e-01 -2.88196121e-05 9.61525600e+00] [-3.92269219e-03 1.57315791e-04 9.99992294e-01 -1.45298000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14439141799997 meters 0.057595572675654634 Centerline is valid? [True, True] Translation: X:234.98, Y:9.61, Z:-1.45 [[ 9.99437166e-01 -3.34463804e-02 2.58674957e-03 2.34983430e+02] [ 3.34465412e-02 9.99440508e-01 -1.89158467e-05 9.61188947e+00] [-2.58466964e-03 1.05423026e-04 9.99996654e-01 -1.45480933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20439141799997 meters 0.05562948378405853 Centerline is valid? [True, True] Translation: X:235.05, Y:9.62, Z:-1.45 [[ 9.99399082e-01 -3.46237797e-02 1.63352575e-03 2.35045293e+02] [ 3.46238454e-02 9.99400415e-01 -1.19873580e-05 9.61832478e+00] [-1.63213127e-03 6.85390978e-05 9.99998666e-01 -1.45467598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26439141799997 meters 0.05679782559974365 Centerline is valid? [True, True] Translation: X:235.11, Y:9.61, Z:-1.46 [[ 9.99366419e-01 -3.55596797e-02 1.50661259e-03 2.35106049e+02] [ 3.55597368e-02 9.99367553e-01 -1.11186233e-05 9.61290308e+00] [-1.50526436e-03 6.46863259e-05 9.99998865e-01 -1.45586437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32439141799998 meters 0.0570693140412766 Centerline is valid? [True, True] Translation: X:235.17, Y:9.62, Z:-1.46 [[ 9.99282824e-01 -3.78611788e-02 6.07122857e-04 2.35165587e+02] [ 3.78611885e-02 9.99283008e-01 -4.54891596e-06 9.61529496e+00] [-6.06515327e-04 2.75320465e-05 9.99999816e-01 -1.45534428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38439141799998 meters 0.055754551635547295 Centerline is valid? [True, True] Translation: X:235.23, Y:9.62, Z:-1.45 [[ 9.99147052e-01 -4.12544954e-02 1.79839248e-03 2.35225742e+02] [ 4.12545862e-02 9.99148667e-01 -1.33701517e-05 9.62300568e+00] [-1.79630987e-03 8.75506852e-05 9.99998383e-01 -1.45371902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44439141799998 meters 0.055238399027709315 Centerline is valid? [True, True] Translation: X:235.29, Y:9.63, Z:-1.45 [[ 9.99083719e-01 -4.27164970e-02 2.65017235e-03 2.35287334e+02] [ 4.27166991e-02 9.99087225e-01 -1.96731927e-05 9.62518288e+00] [-2.64691297e-03 1.32861781e-04 9.99996488e-01 -1.45369142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50439141799998 meters 0.055096045934329686 Centerline is valid? [True, True] Translation: X:235.35, Y:9.63, Z:-1.45 [[ 9.99052244e-01 -4.34181421e-02 3.07890784e-03 2.35349808e+02] [ 4.34184181e-02 9.99056976e-01 -2.28469829e-05 9.62754845e+00] [-3.07501238e-03 1.56506638e-04 9.99995260e-01 -1.45387141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56439141799999 meters 0.05920146247571562 Centerline is valid? [True, True] Translation: X:235.41, Y:9.61, Z:-1.45 [[ 9.99054341e-01 -4.33818333e-02 2.90525895e-03 2.35411243e+02] [ 4.33820790e-02 9.99058554e-01 -2.15613301e-05 9.61340263e+00] [-2.90158843e-03 1.47577114e-04 9.99995779e-01 -1.45492423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624391418 meters 0.06064541732370314 Centerline is valid? [True, True] Translation: X:235.47, Y:9.61, Z:-1.46 [[ 9.99080610e-01 -4.27814875e-02 2.77115993e-03 2.35473678e+02] [ 4.27817096e-02 9.99084443e-01 -2.08942448e-05 9.61223736e+00] [-2.76772889e-03 1.39429994e-04 9.99996160e-01 -1.45632333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68439141799996 meters 0.05411624956536419 Centerline is valid? [True, True] Translation: X:235.54, Y:9.64, Z:-1.45 [[ 9.99111352e-01 -4.20179474e-02 3.31637762e-03 2.35535922e+02] [ 4.20182610e-02 9.99116843e-01 -2.49130909e-05 9.64455634e+00] [-3.31240194e-03 1.64239372e-04 9.99994500e-01 -1.45499424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74439141799996 meters 0.05622899084392881 Centerline is valid? [True, True] Translation: X:235.60, Y:9.64, Z:-1.46 [[ 9.99130810e-01 -4.15819937e-02 2.92601177e-03 2.35596695e+02] [ 4.15822368e-02 9.99135085e-01 -2.22565250e-05 9.63624121e+00] [-2.92255555e-03 1.43907294e-04 9.99995719e-01 -1.45621252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80439141799997 meters 0.05648109344919235 Centerline is valid? [True, True] Translation: X:235.66, Y:9.64, Z:-1.46 [[ 9.99121421e-01 -4.18660480e-02 1.90242227e-03 2.35658727e+02] [ 4.18661518e-02 9.99123228e-01 -1.47575568e-05 9.63851620e+00] [-1.90013644e-03 9.43916905e-05 9.99998190e-01 -1.45816901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86439141799997 meters 0.05559247190044134 Centerline is valid? [True, True] Translation: X:235.72, Y:9.65, Z:-1.46 [[ 9.99084437e-01 -4.27376227e-02 1.94526076e-03 2.35720697e+02] [ 4.27377330e-02 9.99086326e-01 -1.51491544e-05 9.64659035e+00] [-1.94283598e-03 9.82713193e-05 9.99998108e-01 -1.45891331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92439141799997 meters 0.05616882115191744 Centerline is valid? [True, True] Translation: X:235.78, Y:9.65, Z:-1.46 [[ 9.99003948e-01 -4.45486158e-02 2.55588595e-03 2.35781304e+02] [ 4.45488126e-02 9.99007209e-01 -2.01232300e-05 9.65055286e+00] [-2.55245202e-03 1.33964871e-04 9.99996734e-01 -1.45856304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98439141799997 meters 0.054222123863057206 Centerline is valid? [True, True] Translation: X:235.84, Y:9.66, Z:-1.46 [[ 9.98933648e-01 -4.60657125e-02 3.08503861e-03 2.35842045e+02] [ 4.60660067e-02 9.98938398e-01 -2.43218085e-05 9.66313371e+00] [-3.08064312e-03 1.66411282e-04 9.99995241e-01 -1.45834152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04439141799998 meters 0.05365272637220515 Centerline is valid? [True, True] Translation: X:235.90, Y:9.67, Z:-1.46 [[ 9.98931664e-01 -4.60463193e-02 3.90720153e-03 2.35904915e+02] [ 4.60467901e-02 9.98939284e-01 -3.05902028e-05 9.66842846e+00] [-3.90164853e-03 2.10471611e-04 9.99992366e-01 -1.45881379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10439141799998 meters 0.05506591913338335 Centerline is valid? [True, True] Translation: X:235.97, Y:9.66, Z:-1.46 [[ 9.98997620e-01 -4.45526174e-02 4.33824280e-03 2.35965026e+02] [ 4.45531876e-02 9.99007013e-01 -3.48361430e-05 9.66227924e+00] [-4.33238294e-03 2.28083769e-04 9.99990589e-01 -1.45859509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16439141799998 meters 0.0552025420806182 Centerline is valid? [True, True] Translation: X:236.03, Y:9.67, Z:-1.46 [[ 9.99041656e-01 -4.35800037e-02 4.06860126e-03 2.36026558e+02] [ 4.35804971e-02 9.99049918e-01 -3.26412130e-05 9.66544249e+00] [-4.06331325e-03 2.09921597e-04 9.99991723e-01 -1.45926084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22439141799998 meters 0.05401754938328604 Centerline is valid? [True, True] Translation: X:236.09, Y:9.67, Z:-1.46 [[ 9.99050021e-01 -4.35148044e-02 2.34888309e-03 2.36088757e+02] [ 4.35149679e-02 9.99052775e-01 -1.84988727e-05 9.67493560e+00] [-2.34585320e-03 1.20692872e-04 9.99997241e-01 -1.46025890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28439141799998 meters 0.05568339288343829 Centerline is valid? [True, True] Translation: X:236.15, Y:9.67, Z:-1.46 [[ 9.99013580e-01 -4.43934607e-02 1.04321928e-03 2.36148743e+02] [ 4.43934935e-02 9.99014123e-01 -8.31626053e-06 9.66890800e+00] [-1.04182160e-03 5.46202053e-05 9.99999456e-01 -1.46182511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344391418 meters 0.054658183507375724 Centerline is valid? [True, True] Translation: X:236.21, Y:9.68, Z:-1.46 [[ 9.98987583e-01 -4.49848310e-02 -4.17013187e-04 2.36211224e+02] [ 4.49848365e-02 9.98987670e-01 3.61466051e-06 9.67809690e+00] [ 4.16428427e-04 -2.23702710e-05 9.99999913e-01 -1.46224475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters 0.05409697305937479 Centerline is valid? [True, True] Translation: X:236.27, Y:9.68, Z:-1.46 [[ 9.99138952e-01 -4.14891618e-02 -5.91671957e-05 2.36271647e+02] [ 4.14891619e-02 9.99138954e-01 5.28990707e-07 9.67962062e+00] [ 5.90943026e-05 -2.98333258e-06 9.99999998e-01 -1.46321868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46439141799996 meters 0.05399552607211936 Centerline is valid? [True, True] Translation: X:236.33, Y:9.69, Z:-1.46 [[ 9.99434645e-01 -3.36130771e-02 7.42590099e-04 2.36332087e+02] [ 3.36130909e-02 9.99434920e-01 -6.10823442e-06 9.68617991e+00] [-7.41965160e-04 3.10655296e-05 9.99999724e-01 -1.46291444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52439141799996 meters 0.05398292317064993 Centerline is valid? [True, True] Translation: X:236.39, Y:9.70, Z:-1.46 [[ 9.99723887e-01 -2.34085508e-02 2.04672139e-03 2.36392907e+02] [ 2.34086342e-02 9.99725980e-01 -1.68131858e-05 9.69601159e+00] [-2.04576698e-03 6.47194959e-05 9.99997905e-01 -1.46162570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58439141799997 meters 0.053851880459831844 Centerline is valid? [True, True] Translation: X:236.45, Y:9.70, Z:-1.46 [[ 9.99902933e-01 -1.36716489e-02 2.68534645e-03 2.36452891e+02] [ 1.36717575e-02 9.99906537e-01 -2.21166672e-05 9.69957980e+00] [-2.68479310e-03 5.88279260e-05 9.99996394e-01 -1.46189868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64439141799997 meters 0.054136014475464234 Centerline is valid? [True, True] Translation: X:236.51, Y:9.71, Z:-1.46 [[ 9.99959115e-01 -8.67131962e-03 2.56445032e-03 2.36513730e+02] [ 8.67140223e-03 9.99962402e-01 -2.10974655e-05 9.70604953e+00] [-2.56417097e-03 4.33339832e-05 9.99996712e-01 -1.46207994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70439141799997 meters 0.05459693256684429 Centerline is valid? [True, True] Translation: X:236.57, Y:9.71, Z:-1.46 [[ 9.99991751e-01 -3.42098186e-03 2.18968419e-03 2.36574850e+02] [ 3.42102949e-03 9.99994148e-01 -1.80076604e-05 9.70968350e+00] [-2.18960977e-03 2.54984860e-05 9.99997602e-01 -1.46308268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76439141799997 meters 0.054151912694955645 Centerline is valid? [True, True] Translation: X:236.64, Y:9.71, Z:-1.46 [[ 9.99996802e-01 -1.86012549e-03 1.71322502e-03 2.36637531e+02] [ 1.86015219e-03 9.99998270e-01 -1.39920772e-05 9.71135768e+00] [-1.71319603e-03 1.71788917e-05 9.99998532e-01 -1.46349037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82439141799998 meters 0.054154353960802246 Centerline is valid? [True, True] Translation: X:236.70, Y:9.71, Z:-1.46 [[ 9.99994347e-01 -2.09133466e-03 2.63293462e-03 2.36698344e+02] [ 2.09139928e-03 9.99997813e-01 -2.17923378e-05 9.71036127e+00] [-2.63288329e-03 2.72987322e-05 9.99996534e-01 -1.46410335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88439141799998 meters 0.0534249931289214 Centerline is valid? [True, True] Translation: X:236.76, Y:9.71, Z:-1.46 [[ 9.99977571e-01 -5.33471334e-03 4.04950013e-03 2.36760412e+02] [ 5.33489338e-03 9.99985769e-01 -3.36599952e-05 9.70825192e+00] [-4.04926293e-03 5.52628917e-05 9.99991800e-01 -1.46325020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94439141799998 meters 0.05325017772712084 Centerline is valid? [True, True] Translation: X:236.82, Y:9.71, Z:-1.46 [[ 9.99939345e-01 -1.02068903e-02 4.13829090e-03 2.36821144e+02] [ 1.02071209e-02 9.99947905e-01 -3.46222398e-05 9.70730369e+00] [-4.13772193e-03 7.68601755e-05 9.99991437e-01 -1.46380312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00439141799998 meters 0.05463084699601343 Centerline is valid? [True, True] Translation: X:236.88, Y:9.70, Z:-1.47 [[ 9.99894793e-01 -1.41829573e-02 3.04080139e-03 2.36881277e+02] [ 1.41831003e-02 9.99899414e-01 -2.54767264e-05 9.70141959e+00] [-3.04013420e-03 6.86020373e-05 9.99995376e-01 -1.46566178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06439141799999 meters 0.05434066786197602 Centerline is valid? [True, True] Translation: X:236.94, Y:9.69, Z:-1.47 [[ 9.99702494e-01 -2.43750221e-02 8.84521837e-04 2.36941727e+02] [ 2.43750382e-02 9.99702885e-01 -7.41739125e-06 9.69369507e+00] [-8.84078233e-04 2.89754381e-05 9.99999609e-01 -1.46742103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124391418 meters 0.055032308619954715 Centerline is valid? [True, True] Translation: X:237.00, Y:9.68, Z:-1.47 [[ 9.99559996e-01 -2.96255437e-02 1.46308214e-03 2.37001978e+02] [ 2.96255933e-02 9.99561066e-01 -1.22319209e-05 9.68458311e+00] [-1.46207757e-03 5.55712154e-05 9.99998930e-01 -1.46801887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18439141799996 meters 0.05456245889315499 Centerline is valid? [True, True] Translation: X:237.06, Y:9.68, Z:-1.47 [[ 9.99338282e-01 -3.62692905e-02 2.74544601e-03 2.37062054e+02] [ 3.62694903e-02 9.99342045e-01 -2.30318242e-05 9.67813423e+00] [-2.74280428e-03 1.22592511e-04 9.99996231e-01 -1.46712139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24439141799996 meters 0.0542777635512129 Centerline is valid? [True, True] Translation: X:237.12, Y:9.68, Z:-1.47 [[ 9.99224082e-01 -3.91777423e-02 4.04201050e-03 2.37122209e+02] [ 3.91781990e-02 9.99232239e-01 -3.38559176e-05 9.67902591e+00] [-4.03758081e-03 1.92188340e-04 9.99991830e-01 -1.46667543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30439141799997 meters 0.05364971651596583 Centerline is valid? [True, True] Translation: X:237.18, Y:9.67, Z:-1.47 [[ 9.99098061e-01 -4.20807729e-02 5.68090739e-03 2.37182435e+02] [ 4.20817221e-02 9.99114171e-01 -4.75944214e-05 9.67469477e+00] [-5.67387227e-03 2.86613860e-04 9.99983862e-01 -1.46659100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36439141799997 meters 0.05411882995947586 Centerline is valid? [True, True] Translation: X:237.24, Y:9.67, Z:-1.47 [[ 9.99030531e-01 -4.36991015e-02 5.32785480e-03 2.37243387e+02] [ 4.36999593e-02 9.99044700e-01 -4.46336291e-05 9.67268275e+00] [-5.32081465e-03 2.77417396e-04 9.99985806e-01 -1.46712272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42439141799997 meters 0.055425564477729054 Centerline is valid? [True, True] Translation: X:237.31, Y:9.66, Z:-1.47 [[ 9.99035872e-01 -4.36595313e-02 4.60125194e-03 2.37305096e+02] [ 4.36601703e-02 9.99046439e-01 -3.84691357e-05 9.66047250e+00] [-4.59518482e-03 2.39323490e-04 9.99989413e-01 -1.46791432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48439141799997 meters 0.0554608888623679 Centerline is valid? [True, True] Translation: X:237.37, Y:9.66, Z:-1.47 [[ 9.99079590e-01 -4.28056324e-02 2.76609715e-03 2.37367238e+02] [ 4.28058603e-02 9.99083409e-01 -2.32134756e-05 9.66090944e+00] [-2.76256810e-03 1.41597278e-04 9.99996174e-01 -1.46952618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54439141799998 meters 0.05572346803864382 Centerline is valid? [True, True] Translation: X:237.43, Y:9.65, Z:-1.47 [[ 9.99267115e-01 -3.82177701e-02 2.15271302e-03 2.37426556e+02] [ 3.82178986e-02 9.99269429e-01 -1.85784638e-05 9.65306116e+00] [-2.15043028e-03 1.00837016e-04 9.99997683e-01 -1.47104128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60439141799998 meters 0.05528818820202949 Centerline is valid? [True, True] Translation: X:237.49, Y:9.66, Z:-1.47 [[ 9.99571409e-01 -2.89915998e-02 4.06023561e-03 2.37487612e+02] [ 2.89919808e-02 9.99579644e-01 -3.50037876e-05 9.65867787e+00] [-4.05751405e-03 1.52703058e-04 9.99991757e-01 -1.46928747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66439141799998 meters 0.0551690124918777 Centerline is valid? [True, True] Translation: X:237.55, Y:9.66, Z:-1.47 [[ 9.99776605e-01 -2.03663788e-02 5.65246139e-03 2.37547502e+02] [ 2.03669789e-02 9.99792570e-01 -4.86214555e-05 9.65904116e+00] [-5.65029866e-03 1.63734156e-04 9.99984024e-01 -1.46837551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72439141799998 meters 0.05430063460042677 Centerline is valid? [True, True] Translation: X:237.61, Y:9.67, Z:-1.47 [[ 9.99945137e-01 -6.97285213e-03 7.81683106e-03 2.37608447e+02] [ 6.97359064e-03 9.99975682e-01 -6.72238927e-05 9.66667223e+00] [-7.81617222e-03 1.21731584e-04 9.99969446e-01 -1.46735724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78439141799998 meters 0.0543882649074843 Centerline is valid? [True, True] Translation: X:237.67, Y:9.67, Z:-1.47 [[ 9.99961487e-01 5.77173731e-03 6.61150906e-03 2.37669242e+02] [-5.77148763e-03 9.99983343e-01 -5.68435756e-05 9.67355491e+00] [-6.61172702e-03 1.86831436e-05 9.99978142e-01 -1.46803717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844391418 meters 0.05479610066517392 Centerline is valid? [True, True] Translation: X:237.73, Y:9.67, Z:-1.47 [[ 9.99864004e-01 1.55206917e-02 5.57513011e-03 2.37729430e+02] [-1.55206654e-02 9.99879546e-01 -4.79788027e-05 9.67409240e+00] [-5.57520323e-03 -3.85574514e-05 9.99984458e-01 -1.46878634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters 0.0550184832213291 Centerline is valid? [True, True] Translation: X:237.79, Y:9.67, Z:-1.47 [[ 9.99789103e-01 1.99112591e-02 5.02906295e-03 2.37789207e+02] [-1.99112930e-02 9.99801750e-01 -4.33355475e-05 9.67254677e+00] [-5.02892880e-03 -5.68087378e-05 9.99987353e-01 -1.46945350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96439141799996 meters 0.054890592137538684 Centerline is valid? [True, True] Translation: X:237.85, Y:9.67, Z:-1.47 [[ 9.99747867e-01 2.18238831e-02 5.28393337e-03 2.37847650e+02] [-2.18239474e-02 9.99761828e-01 -4.54919059e-05 9.67066385e+00] [-5.28366770e-03 -6.98358480e-05 9.99986039e-01 -1.47003423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02439141799996 meters 0.05556347454966838 Centerline is valid? [True, True] Translation: X:237.91, Y:9.67, Z:-1.47 [[ 9.99826966e-01 1.75951487e-02 6.03725847e-03 2.37905603e+02] [-1.75951582e-02 9.99845192e-01 -5.15419756e-05 9.66500525e+00] [-6.03723075e-03 -5.46934610e-05 9.99981774e-01 -1.47017886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08439141799997 meters 0.054448932810037196 Centerline is valid? [True, True] Translation: X:237.96, Y:9.66, Z:-1.47 [[ 9.99909353e-01 1.20397916e-02 6.02741083e-03 2.37964628e+02] [-1.20397013e-02 9.99927519e-01 -5.12641576e-05 9.65515097e+00] [-6.02759117e-03 -2.13087154e-05 9.99981834e-01 -1.47108718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14439141799997 meters 0.05528561348647369 Centerline is valid? [True, True] Translation: X:238.02, Y:9.64, Z:-1.47 [[ 9.99978314e-01 2.74523358e-03 5.98618705e-03 2.38024523e+02] [-2.74497855e-03 9.99996231e-01 -5.08187640e-05 9.64299214e+00] [-5.98630399e-03 3.43857069e-05 9.99982081e-01 -1.47152486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20439141799997 meters 0.05538349517215246 Centerline is valid? [True, True] Translation: X:238.09, Y:9.64, Z:-1.47 [[ 9.99977583e-01 -2.40169625e-03 6.25024829e-03 2.38086661e+02] [ 2.40207486e-03 9.99997114e-01 -5.30681187e-05 9.63569157e+00] [-6.25010280e-03 6.80804934e-05 9.99980466e-01 -1.47172005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26439141799997 meters 0.05497394432784919 Centerline is valid? [True, True] Translation: X:238.15, Y:9.62, Z:-1.47 [[ 9.99945410e-01 -7.94021117e-03 6.79189381e-03 2.38146360e+02] [ 7.94078761e-03 9.99968470e-01 -5.79082148e-05 9.62219922e+00] [-6.79121985e-03 1.11838040e-04 9.99976933e-01 -1.47272098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32439141799998 meters 0.05565116466649392 Centerline is valid? [True, True] Translation: X:238.21, Y:9.61, Z:-1.47 [[ 9.99902422e-01 -1.23259282e-02 6.57402289e-03 2.38205943e+02] [ 1.23265643e-02 9.99924023e-01 -5.62576673e-05 9.60968870e+00] [-6.57282999e-03 1.37287294e-04 9.99978389e-01 -1.47313228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38439141799998 meters 0.055139546236041635 Centerline is valid? [True, True] Translation: X:238.27, Y:9.61, Z:-1.47 [[ 9.99870076e-01 -1.46205112e-02 6.78764178e-03 2.38267821e+02] [ 1.46212428e-02 9.99893102e-01 -5.81646133e-05 9.60749088e+00] [-6.78606580e-03 1.57400815e-04 9.99976962e-01 -1.47426059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44439141799998 meters 0.05685285129560764 Centerline is valid? [True, True] Translation: X:238.33, Y:9.60, Z:-1.48 [[ 9.99832551e-01 -1.71994228e-02 6.24904874e-03 2.38328195e+02] [ 1.72000968e-02 9.99852066e-01 -5.41174901e-05 9.59510115e+00] [-6.24719351e-03 1.61592671e-04 9.99980473e-01 -1.47510011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50439141799998 meters 0.05767936556150221 Centerline is valid? [True, True] Translation: X:238.39, Y:9.59, Z:-1.48 [[ 9.99787473e-01 -1.99219829e-02 5.30322275e-03 2.38389331e+02] [ 1.99225067e-02 9.99801526e-01 -4.59609932e-05 9.58899880e+00] [-5.30125456e-03 1.51604716e-04 9.99985937e-01 -1.47670570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56439141799999 meters 0.05716353601354303 Centerline is valid? [True, True] Translation: X:238.45, Y:9.58, Z:-1.48 [[ 9.99719697e-01 -2.32102109e-02 4.67054195e-03 2.38449846e+02] [ 2.32106532e-02 9.99730596e-01 -4.05142211e-05 9.58050193e+00] [-4.66834334e-03 1.48909194e-04 9.99989092e-01 -1.47752923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624391418 meters 0.05513794620202312 Centerline is valid? [True, True] Translation: X:238.51, Y:9.59, Z:-1.48 [[ 9.99669320e-01 -2.53198584e-02 4.48957881e-03 2.38511462e+02] [ 2.53202883e-02 9.99679389e-01 -3.89364525e-05 9.58567675e+00] [-4.48715354e-03 1.52601007e-04 9.99989921e-01 -1.47756971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68439141799996 meters 0.055985305857598935 Centerline is valid? [True, True] Translation: X:238.57, Y:9.58, Z:-1.48 [[ 9.99640959e-01 -2.64907886e-02 4.02384345e-03 2.38572827e+02] [ 2.64911433e-02 9.99649047e-01 -3.48767278e-05 9.57660463e+00] [-4.02150736e-03 1.41460419e-04 9.99991904e-01 -1.47816808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74439141799996 meters 0.05714284738097687 Centerline is valid? [True, True] Translation: X:238.63, Y:9.57, Z:-1.48 [[ 9.99651785e-01 -2.60327622e-02 4.31321438e-03 2.38633569e+02] [ 2.60331666e-02 9.99661079e-01 -3.76303272e-05 9.57066892e+00] [-4.31077292e-03 1.49903852e-04 9.99990697e-01 -1.47806341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80439141799997 meters 0.057057450155382536 Centerline is valid? [True, True] Translation: X:238.69, Y:9.57, Z:-1.48 [[ 9.99696316e-01 -2.43279458e-02 3.92771761e-03 2.38694846e+02] [ 2.43282692e-02 9.99704023e-01 -3.45836125e-05 9.56732096e+00] [-3.92571374e-03 1.30127681e-04 9.99992286e-01 -1.47848759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86439141799997 meters 0.05770480171828239 Centerline is valid? [True, True] Translation: X:238.75, Y:9.56, Z:-1.48 [[ 9.99762555e-01 -2.15099897e-02 3.48638983e-03 2.38754144e+02] [ 2.15102278e-02 9.99768628e-01 -3.08009757e-05 9.56234882e+00] [-3.48492065e-03 1.05786702e-04 9.99993922e-01 -1.47916611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92439141799997 meters 0.05686269161334139 Centerline is valid? [True, True] Translation: X:238.81, Y:9.56, Z:-1.48 [[ 9.99807741e-01 -1.90469564e-02 4.65779173e-03 2.38814522e+02] [ 1.90473543e-02 9.99818582e-01 -4.10768778e-05 9.56400751e+00] [-4.65616433e-03 1.29787590e-04 9.99989152e-01 -1.47892019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98439141799997 meters 0.05676864962245063 Centerline is valid? [True, True] Translation: X:238.87, Y:9.56, Z:-1.48 [[ 9.99892526e-01 -1.40279438e-02 4.26068532e-03 2.38874484e+02] [ 1.40282315e-02 9.99901599e-01 -3.76304389e-05 9.56324399e+00] [-4.25973818e-03 9.73962744e-05 9.99990923e-01 -1.47926855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04439141799998 meters 0.05588811216796137 Centerline is valid? [True, True] Translation: X:238.94, Y:9.57, Z:-1.48 [[ 9.99971168e-01 -6.76492939e-03 3.44935184e-03 2.38935502e+02] [ 6.76507481e-03 9.99977116e-01 -3.04914506e-05 9.57094581e+00] [-3.44906663e-03 5.38256947e-05 9.99994051e-01 -1.47954190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10439141799998 meters 0.0560570873926152 Centerline is valid? [True, True] Translation: X:239.00, Y:9.57, Z:-1.48 [[ 9.99992298e-01 -4.26883267e-04 3.90141771e-03 2.38995682e+02] [ 4.27020359e-04 9.99999908e-01 -3.43062100e-05 9.56792934e+00] [-3.90140270e-03 3.59719306e-05 9.99992389e-01 -1.48043884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16439141799998 meters 0.056562268889945984 Centerline is valid? [True, True] Translation: X:239.06, Y:9.57, Z:-1.48 [[ 9.99948858e-01 8.80761872e-03 4.97071730e-03 2.39056338e+02] [-8.80750995e-03 9.99961212e-01 -4.37730924e-05 9.57299293e+00] [-4.97091003e-03 -8.78830560e-09 9.99987645e-01 -1.47902986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22439141799998 meters 0.05668746867316384 Centerline is valid? [True, True] Translation: X:239.12, Y:9.57, Z:-1.48 [[ 9.99886065e-01 1.41976993e-02 5.12672954e-03 2.39116852e+02] [-1.41976544e-02 9.99899207e-01 -4.51398284e-05 9.57328382e+00] [-5.12685368e-03 -2.76528490e-05 9.99986857e-01 -1.47870218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28439141799998 meters 0.056070355105281744 Centerline is valid? [True, True] Translation: X:239.18, Y:9.57, Z:-1.48 [[ 9.99887864e-01 1.40911430e-02 5.06936873e-03 2.39176029e+02] [-1.40910974e-02 9.99900715e-01 -4.46967658e-05 9.56851913e+00] [-5.06949524e-03 -2.67412151e-05 9.99987150e-01 -1.47939522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344391418 meters 0.0574612622115126 Centerline is valid? [True, True] Translation: X:239.23, Y:9.57, Z:-1.48 [[ 9.99930996e-01 1.10294106e-02 4.04406346e-03 2.39234326e+02] [-1.10293568e-02 9.99939174e-01 -3.56151168e-05 9.56534602e+00] [-4.04421029e-03 -8.99075945e-06 9.99991822e-01 -1.48075987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters 0.0567245515484011 Centerline is valid? [True, True] Translation: X:239.29, Y:9.55, Z:-1.48 [[ 9.99992432e-01 2.20342845e-03 3.20634293e-03 2.39294274e+02] [-2.20334948e-03 9.99997572e-01 -2.81632107e-05 9.55415699e+00] [-3.20639720e-03 2.10983035e-05 9.99994859e-01 -1.48158294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46439141799996 meters 0.0572216469599088 Centerline is valid? [True, True] Translation: X:239.35, Y:9.55, Z:-1.48 [[ 9.99982299e-01 -4.77788206e-03 3.54586118e-03 2.39354457e+02] [ 4.77802234e-03 9.99988585e-01 -3.10892513e-05 9.55188805e+00] [-3.54567216e-03 4.80309049e-05 9.99993713e-01 -1.48046601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52439141799996 meters 0.058168298960798726 Centerline is valid? [True, True] Translation: X:239.42, Y:9.53, Z:-1.48 [[ 9.99900515e-01 -1.38392208e-02 2.72677850e-03 2.39415150e+02] [ 1.38393376e-02 9.99904232e-01 -2.39722236e-05 9.53074242e+00] [-2.72618561e-03 6.17066469e-05 9.99996282e-01 -1.48271796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58439141799997 meters 0.05885333706079487 Centerline is valid? [True, True] Translation: X:239.48, Y:9.52, Z:-1.48 [[ 9.99813823e-01 -1.90427081e-02 3.11348266e-03 2.39475789e+02] [ 1.90428858e-02 9.99818667e-01 -2.74305928e-05 9.52493634e+00] [-3.11239574e-03 8.67151806e-05 9.99995153e-01 -1.48306189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64439141799997 meters 0.05711272762395691 Centerline is valid? [True, True] Translation: X:239.54, Y:9.53, Z:-1.48 [[ 9.99792508e-01 -2.00219641e-02 3.74982728e-03 2.39537791e+02] [ 2.00222286e-02 9.99799535e-01 -3.30267725e-05 9.53243480e+00] [-3.74841431e-03 1.08099819e-04 9.99992969e-01 -1.48242578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70439141799997 meters 0.05839819855403983 Centerline is valid? [True, True] Translation: X:239.60, Y:9.53, Z:-1.48 [[ 9.99809768e-01 -1.91991496e-02 3.43806105e-03 2.39599118e+02] [ 1.91993676e-02 9.99815675e-01 -3.04004765e-05 9.52630478e+00] [-3.43684366e-03 9.64032912e-05 9.99994089e-01 -1.48313036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76439141799997 meters 0.05740724557929075 Centerline is valid? [True, True] Translation: X:239.66, Y:9.53, Z:-1.48 [[ 9.99817056e-01 -1.87832612e-02 3.61162204e-03 2.39661767e+02] [ 1.87834992e-02 9.99823574e-01 -3.19754132e-05 9.52680522e+00] [-3.61038425e-03 9.98084632e-05 9.99993478e-01 -1.48345244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82439141799998 meters 0.059107576408538344 Centerline is valid? [True, True] Translation: X:239.72, Y:9.52, Z:-1.49 [[ 9.99841030e-01 -1.76263854e-02 2.68789804e-03 2.39723453e+02] [ 1.76265133e-02 9.99844641e-01 -2.39080420e-05 9.51911318e+00] [-2.68705904e-03 7.12825118e-05 9.99996387e-01 -1.48571764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88439141799998 meters 0.05832388345129159 Centerline is valid? [True, True] Translation: X:239.79, Y:9.52, Z:-1.49 [[ 9.99851740e-01 -1.70664121e-02 2.28803168e-03 2.39786078e+02] [ 1.70665034e-02 9.99854356e-01 -2.04074363e-05 9.52095420e+00] [-2.28735016e-03 5.94531112e-05 9.99997382e-01 -1.48645965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94439141799998 meters 0.058586215238440674 Centerline is valid? [True, True] Translation: X:239.85, Y:9.52, Z:-1.49 [[ 9.99862651e-01 -1.65420409e-02 1.02026300e-03 2.39848273e+02] [ 1.65420587e-02 9.99863171e-01 -8.96801996e-06 9.52085632e+00] [-1.01997505e-03 2.58440387e-05 9.99999479e-01 -1.48826818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00439141799998 meters 0.05702130410373848 Centerline is valid? [True, True] Translation: X:239.91, Y:9.53, Z:-1.49 [[ 9.99856496e-01 -1.69076630e-02 -1.05746251e-03 2.39910686e+02] [ 1.69076828e-02 9.99857055e-01 9.78333999e-06 9.52947617e+00] [ 1.05714594e-03 -2.76611767e-05 9.99999441e-01 -1.48829372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06439141799999 meters 0.05765432721121405 Centerline is valid? [True, True] Translation: X:239.97, Y:9.53, Z:-1.49 [[ 9.99800377e-01 -1.99376447e-02 -1.30278840e-03 2.39970787e+02] [ 1.99376773e-02 9.99801225e-01 1.20245464e-05 9.52861045e+00] [ 1.30228970e-03 -3.79967208e-05 9.99999151e-01 -1.48839058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124391418 meters 0.057855453040927554 Centerline is valid? [True, True] Translation: X:240.03, Y:9.53, Z:-1.49 [[ 9.99743505e-01 -2.26450649e-02 3.54225479e-04 2.40031754e+02] [ 2.26450674e-02 9.99743568e-01 -3.12964144e-06 9.52929375e+00] [-3.54063773e-04 1.11502985e-05 9.99999937e-01 -1.48734907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18439141799996 meters 0.05751277062417102 Centerline is valid? [True, True] Translation: X:240.09, Y:9.53, Z:-1.49 [[ 9.99702523e-01 -2.42257927e-02 2.82413833e-03 2.40092632e+02] [ 2.42259618e-02 9.99706508e-01 -2.56672700e-05 9.52894262e+00] [-2.82268766e-03 9.40771018e-05 9.99996012e-01 -1.48561143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24439141799996 meters 0.058176286431610935 Centerline is valid? [True, True] Translation: X:240.15, Y:9.53, Z:-1.49 [[ 9.99738484e-01 -2.26650827e-02 3.04260776e-03 2.40152949e+02] [ 2.26652718e-02 9.99743109e-01 -2.76703074e-05 9.52748209e+00] [-3.04119900e-03 9.66246031e-05 9.99995371e-01 -1.48598285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30439141799997 meters 0.05934767579987444 Centerline is valid? [True, True] Translation: X:240.22, Y:9.53, Z:-1.49 [[ 9.99759486e-01 -2.17214141e-02 3.02504961e-03 2.40215400e+02] [ 2.17215972e-02 9.99764058e-01 -2.77093512e-05 9.52617201e+00] [-3.02373398e-03 9.34115960e-05 9.99995424e-01 -1.48679169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36439141799997 meters 0.05866324352632191 Centerline is valid? [True, True] Translation: X:240.28, Y:9.53, Z:-1.49 [[ 9.99782769e-01 -2.05793917e-02 3.30205374e-03 2.40277312e+02] [ 2.05796041e-02 9.99788217e-01 -3.03395996e-05 9.53051805e+00] [-3.30073005e-03 9.82879675e-05 9.99994548e-01 -1.48739535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42439141799997 meters 0.057740031619131986 Centerline is valid? [True, True] Translation: X:240.34, Y:9.53, Z:-1.49 [[ 9.99839390e-01 -1.76678361e-02 3.00697682e-03 2.40336710e+02] [ 1.76679998e-02 9.99843908e-01 -2.78684304e-05 9.53487122e+00] [-3.00601508e-03 8.09912203e-05 9.99995479e-01 -1.48759415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48439141799997 meters 0.05631195257038462 Centerline is valid? [True, True] Translation: X:240.40, Y:9.54, Z:-1.49 [[ 9.99898975e-01 -1.39985618e-02 2.46580287e-03 2.40397781e+02] [ 1.39986605e-02 9.99902014e-01 -2.27879779e-05 9.54480810e+00] [-2.46524226e-03 5.73036132e-05 9.99996960e-01 -1.48690352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54439141799998 meters 0.05610357162384292 Centerline is valid? [True, True] Translation: X:240.46, Y:9.54, Z:-1.49 [[ 9.99972958e-01 -6.89870147e-03 2.54791356e-03 2.40457994e+02] [ 6.89878390e-03 9.99976203e-01 -2.35672060e-05 9.54259588e+00] [-2.54769035e-03 4.11440737e-05 9.99996754e-01 -1.48884168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60439141799998 meters 0.05651892336232959 Centerline is valid? [True, True] Translation: X:240.52, Y:9.55, Z:-1.49 [[ 9.99994386e-01 -2.00747038e-03 2.68275550e-03 2.40519582e+02] [ 2.00754401e-03 9.99997985e-01 -2.47554508e-05 9.54936184e+00] [-2.68270039e-03 3.01410616e-05 9.99996401e-01 -1.48850480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66439141799998 meters 0.0567598202430576 Centerline is valid? [True, True] Translation: X:240.58, Y:9.55, Z:-1.49 [[ 9.99996113e-01 -1.57702986e-03 2.29942334e-03 2.40581498e+02] [ 1.57708291e-03 9.99998756e-01 -2.12548496e-05 9.55055191e+00] [-2.29938696e-03 2.48811483e-05 9.99997356e-01 -1.48916931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72439141799998 meters 0.05656611881112453 Centerline is valid? [True, True] Translation: X:240.64, Y:9.54, Z:-1.49 [[ 9.99978831e-01 -6.38283863e-03 1.26350889e-03 2.40641576e+02] [ 6.38285838e-03 9.99979629e-01 -1.15982429e-05 9.54463415e+00] [-1.26340912e-03 1.96627956e-05 9.99999202e-01 -1.49079152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78439141799998 meters 0.057257294484381195 Centerline is valid? [True, True] Translation: X:240.70, Y:9.54, Z:-1.49 [[ 9.99863106e-01 -1.64316613e-02 1.94175200e-03 2.40702005e+02] [ 1.64317276e-02 9.99864990e-01 -1.81831820e-05 9.54312665e+00] [-1.94119107e-03 5.00870328e-05 9.99998115e-01 -1.48923208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844391418 meters 0.05839812083073744 Centerline is valid? [True, True] Translation: X:240.76, Y:9.53, Z:-1.49 [[ 9.99644154e-01 -2.66556391e-02 1.02128215e-03 2.40761684e+02] [ 2.66556628e-02 9.99644675e-01 -9.58286392e-06 9.53110403e+00] [-1.02066382e-03 3.68024064e-05 9.99999478e-01 -1.49060276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters 0.05964786667848236 Centerline is valid? [True, True] Translation: X:240.82, Y:9.52, Z:-1.49 [[ 9.99453448e-01 -3.30521054e-02 6.03642501e-04 2.40822335e+02] [ 3.30521148e-02 9.99453630e-01 -5.64983603e-06 9.52456112e+00] [-6.03125950e-04 2.55984093e-05 9.99999818e-01 -1.49211393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96439141799996 meters 0.06190245300572679 Centerline is valid? [True, True] Translation: X:240.88, Y:9.51, Z:-1.49 [[ 9.99161090e-01 -4.09521622e-02 -1.91450603e-04 2.40882835e+02] [ 4.09521633e-02 9.99161108e-01 1.80107412e-06 9.51370431e+00] [ 1.91216238e-04 -9.63987953e-06 9.99999982e-01 -1.49413043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02439141799996 meters 0.06175543545836129 Centerline is valid? [True, True] Translation: X:240.94, Y:9.51, Z:-1.49 [[ 9.99003768e-01 -4.46258330e-02 -8.18359816e-05 2.40943662e+02] [ 4.46258332e-02 9.99003771e-01 8.10657135e-07 9.51370654e+00] [ 8.17182779e-05 -4.46184840e-06 9.99999997e-01 -1.49324436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08439141799997 meters 0.0580025592276348 Centerline is valid? [True, True] Translation: X:241.00, Y:9.53, Z:-1.49 [[ 9.98884932e-01 -4.71608975e-02 2.17749409e-03 2.41004171e+02] [ 4.71610537e-02 9.98887298e-01 -2.03992852e-05 9.53214979e+00] [-2.17410914e-03 1.23069454e-04 9.99997629e-01 -1.49132704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14439141799997 meters 0.0553098160712097 Centerline is valid? [True, True] Translation: X:241.07, Y:9.55, Z:-1.49 [[ 9.98927489e-01 -4.61507916e-02 3.73856441e-03 2.41066131e+02] [ 4.61512451e-02 9.98934463e-01 -3.50626765e-05 9.54601922e+00] [-3.73296266e-03 2.07564473e-04 9.99993011e-01 -1.49086364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20439141799997 meters 0.05499210712345841 Centerline is valid? [True, True] Translation: X:241.13, Y:9.55, Z:-1.49 [[ 9.99080540e-01 -4.28068100e-02 2.37743703e-03 2.41127245e+02] [ 4.28069841e-02 9.99083361e-01 -2.23805086e-05 9.55122867e+00] [-2.37429974e-03 1.24130840e-04 9.99997174e-01 -1.49223564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26439141799997 meters 0.05581144693330235 Centerline is valid? [True, True] Translation: X:241.19, Y:9.55, Z:-1.49 [[ 9.99150244e-01 -4.11642478e-02 2.07217543e-03 2.41187445e+02] [ 4.11643766e-02 9.99152388e-01 -1.95247137e-05 9.54956554e+00] [-2.06961531e-03 1.04807932e-04 9.99997853e-01 -1.49321288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32439141799998 meters 0.05828264010408484 Centerline is valid? [True, True] Translation: X:241.25, Y:9.55, Z:-1.50 [[ 9.99343108e-01 -3.62387522e-02 3.24831221e-04 2.41246919e+02] [ 3.62387551e-02 9.99343161e-01 -3.07649749e-06 9.54606039e+00] [-3.24506371e-04 1.48459556e-05 9.99999947e-01 -1.49556778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38439141799998 meters 0.05818720470389088 Centerline is valid? [True, True] Translation: X:241.31, Y:9.55, Z:-1.50 [[ 9.99541253e-01 -3.02844097e-02 -3.70970592e-04 2.41307715e+02] [ 3.02844131e-02 9.99541322e-01 3.51008119e-06 9.55189184e+00] [ 3.70694136e-04 -1.47430976e-05 9.99999931e-01 -1.49681165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44439141799998 meters 0.0550240836493175 Centerline is valid? [True, True] Translation: X:241.37, Y:9.57, Z:-1.49 [[ 9.99663259e-01 -2.59486892e-02 1.86582843e-04 2.41369012e+02] [ 2.59486900e-02 9.99663276e-01 -1.66414825e-06 9.57431830e+00] [-1.86476834e-04 6.50516822e-06 9.99999983e-01 -1.49437242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50439141799998 meters 0.05485806006754099 Centerline is valid? [True, True] Translation: X:241.43, Y:9.58, Z:-1.49 [[ 9.99830563e-01 -1.83676463e-02 1.21428477e-03 2.41428607e+02] [ 1.83676738e-02 9.99831300e-01 -1.14494870e-05 9.57904532e+00] [-1.21386962e-03 3.37511335e-05 9.99999263e-01 -1.49428053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56439141799999 meters 0.054246095185678904 Centerline is valid? [True, True] Translation: X:241.49, Y:9.59, Z:-1.49 [[ 9.99942109e-01 -1.04528129e-02 2.55307109e-03 2.41489232e+02] [ 1.04529085e-02 9.99945367e-01 -2.41048614e-05 9.58969916e+00] [-2.55267964e-03 5.07904844e-05 9.99996741e-01 -1.49394725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624391418 meters 0.05476269648442462 Centerline is valid? [True, True] Translation: X:241.55, Y:9.59, Z:-1.50 [[ 9.99982916e-01 -5.39549743e-03 2.24861219e-03 2.41549335e+02] [ 5.39555880e-03 9.99985444e-01 -2.12259616e-05 9.59175097e+00] [-2.24846494e-03 3.33581183e-05 9.99997472e-01 -1.49514654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68439141799996 meters 0.054653670975183435 Centerline is valid? [True, True] Translation: X:241.61, Y:9.60, Z:-1.49 [[ 9.99994840e-01 -4.61204574e-04 3.17917138e-03 2.41611060e+02] [ 4.61302005e-04 9.99999893e-01 -2.99133954e-05 9.60300307e+00] [-3.17915725e-03 3.13797992e-05 9.99994946e-01 -1.49457685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74439141799996 meters 0.054442719346962654 Centerline is valid? [True, True] Translation: X:241.67, Y:9.60, Z:-1.50 [[ 9.99996585e-01 1.71325482e-03 1.97368744e-03 2.41672343e+02] [-1.71322146e-03 9.99998532e-01 -1.85946266e-05 9.60322983e+00] [-1.97371640e-03 1.52131994e-05 9.99998052e-01 -1.49609967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80439141799997 meters 0.054379024396800126 Centerline is valid? [True, True] Translation: X:241.73, Y:9.61, Z:-1.50 [[ 9.99994122e-01 1.21287224e-03 3.20700013e-03 2.41732535e+02] [-1.21278085e-03 9.99999264e-01 -3.04425011e-05 9.60514911e+00] [-3.20703469e-03 2.65529338e-05 9.99994857e-01 -1.49573704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86439141799997 meters 0.05426295533581883 Centerline is valid? [True, True] Translation: X:241.79, Y:9.60, Z:-1.50 [[ 9.99992701e-01 -1.86890938e-03 3.33254579e-03 2.41794292e+02] [ 1.86902444e-03 9.99998253e-01 -3.14124899e-05 9.60444980e+00] [-3.33248126e-03 3.76408701e-05 9.99994447e-01 -1.49626950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92439141799997 meters 0.05480486447704448 Centerline is valid? [True, True] Translation: X:241.86, Y:9.60, Z:-1.50 [[ 9.99984832e-01 -4.51585283e-03 3.15308503e-03 2.41856025e+02] [ 4.51596989e-03 9.99989803e-01 -3.00091657e-05 9.60191374e+00] [-3.15291736e-03 4.42479476e-05 9.99995029e-01 -1.49735495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98439141799997 meters 0.05454951920963951 Centerline is valid? [True, True] Translation: X:241.92, Y:9.60, Z:-1.50 [[ 9.99958114e-01 -8.79330892e-03 2.53939012e-03 2.41916716e+02] [ 8.79339968e-03 9.99961337e-01 -2.45802290e-05 9.60101187e+00] [-2.53907579e-03 4.69090717e-05 9.99996775e-01 -1.49802474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04439141799998 meters 0.055299385737272215 Centerline is valid? [True, True] Translation: X:241.98, Y:9.60, Z:-1.50 [[ 9.99897211e-01 -1.42579651e-02 1.50942987e-03 2.41975961e+02] [ 1.42580035e-02 9.99898349e-01 -1.47096723e-05 9.59650832e+00] [-1.50906670e-03 3.62296167e-05 9.99998861e-01 -1.49934079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10439141799998 meters 0.05554551689931334 Centerline is valid? [True, True] Translation: X:242.04, Y:9.59, Z:-1.50 [[ 9.99792076e-01 -2.03848102e-02 5.15076508e-04 2.42036761e+02] [ 2.03848154e-02 9.99792208e-01 -4.93740389e-06 9.59356341e+00] [-5.14868831e-04 1.54361168e-05 9.99999867e-01 -1.50014559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16439141799998 meters 0.05492118146584481 Centerline is valid? [True, True] Translation: X:242.10, Y:9.59, Z:-1.50 [[ 9.99717184e-01 -2.37812564e-02 5.89896981e-05 2.42097059e+02] [ 2.37812565e-02 9.99717186e-01 -5.64106444e-07 9.59284977e+00] [-5.89595999e-05 1.96679605e-06 9.99999998e-01 -1.50057924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22439141799998 meters 0.053594121112214524 Centerline is valid? [True, True] Translation: X:242.16, Y:9.60, Z:-1.50 [[ 9.99599541e-01 -2.82968527e-02 2.11938800e-04 2.42157145e+02] [ 2.82968538e-02 9.99599564e-01 -2.10382317e-06 9.60369603e+00] [-2.11794401e-04 8.10018193e-06 9.99999978e-01 -1.49921666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28439141799998 meters 0.054371437220501494 Centerline is valid? [True, True] Translation: X:242.22, Y:9.60, Z:-1.50 [[ 9.99513042e-01 -3.11946401e-02 7.56821483e-04 2.42216537e+02] [ 3.11946546e-02 9.99513328e-01 -7.39350458e-06 9.59915523e+00] [-7.56222522e-04 3.09986891e-05 9.99999714e-01 -1.49967033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344391418 meters 0.05516111508612984 Centerline is valid? [True, True] Translation: X:242.28, Y:9.59, Z:-1.50 [[ 9.99467071e-01 -3.26377329e-02 5.94273365e-04 2.42276539e+02] [ 3.26377421e-02 9.99467247e-01 -5.73337937e-06 9.59251736e+00] [-5.93769639e-04 2.51260647e-05 9.99999823e-01 -1.49999364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40439141799996 meters 0.05333713463831748 Centerline is valid? [True, True] Translation: X:242.34, Y:9.61, Z:-1.50 [[ 9.99427357e-01 -3.38266645e-02 8.45915979e-04 2.42338658e+02] [ 3.38266831e-02 9.99427714e-01 -7.66096355e-06 9.60676365e+00] [-8.45172728e-04 3.62711083e-05 9.99999642e-01 -1.49790493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46439141799996 meters 0.053477073125456874 Centerline is valid? [True, True] Translation: X:242.40, Y:9.60, Z:-1.50 [[ 9.99468067e-01 -3.26076193e-02 -5.71778854e-04 2.42400020e+02] [ 3.26076283e-02 9.99468230e-01 6.33188566e-06 9.60289318e+00] [ 5.71268332e-04 -2.49728699e-05 9.99999837e-01 -1.49935320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52439141799996 meters 0.05482658442396206 Centerline is valid? [True, True] Translation: X:242.46, Y:9.60, Z:-1.50 [[ 9.99512974e-01 -3.11681992e-02 -1.53534181e-03 2.42460978e+02] [ 3.11682595e-02 9.99514152e-01 1.53906985e-05 9.60054018e+00] [ 1.53411617e-03 -6.32371348e-05 9.99998821e-01 -1.50104712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58439141799997 meters 0.05453014349143003 Centerline is valid? [True, True] Translation: X:242.52, Y:9.61, Z:-1.50 [[ 9.99613838e-01 -2.76221666e-02 -3.03158092e-03 2.42521996e+02] [ 2.76223850e-02 9.99618429e-01 3.02104678e-05 9.61043851e+00] [ 3.02958968e-03 -1.13938297e-04 9.99995404e-01 -1.50040187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64439141799997 meters 0.054217121461895314 Centerline is valid? [True, True] Translation: X:242.58, Y:9.61, Z:-1.50 [[ 9.99708542e-01 -2.39482279e-02 -3.05164144e-03 2.42581294e+02] [ 2.39484319e-02 9.99713195e-01 3.03353689e-05 9.60705199e+00] [ 3.05003973e-03 -1.03408555e-04 9.99995343e-01 -1.50143108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70439141799997 meters 0.053955968574070666 Centerline is valid? [True, True] Translation: X:242.64, Y:9.62, Z:-1.50 [[ 9.99853685e-01 -1.70255684e-02 -1.65515039e-03 2.42642140e+02] [ 1.70256192e-02 9.99855054e-01 1.65494133e-05 9.61514880e+00] [ 1.65462872e-03 -4.47269520e-05 9.99998630e-01 -1.49943050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76439141799997 meters 0.05536949598400381 Centerline is valid? [True, True] Translation: X:242.70, Y:9.62, Z:-1.50 [[ 9.99969421e-01 -7.79344874e-03 -6.46981357e-04 2.42701935e+02] [ 7.79345457e-03 9.99969631e-01 6.50098218e-06 9.61631559e+00] [ 6.46911043e-04 -1.15430032e-05 9.99999791e-01 -1.50015176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82439141799998 meters 0.05469770929627431 Centerline is valid? [True, True] Translation: X:242.76, Y:9.62, Z:-1.50 [[ 9.99999081e-01 -1.14355274e-03 7.27586561e-04 2.42762417e+02] [ 1.14355829e-03 9.99999346e-01 -7.21441504e-06 9.62103200e+00] [-7.27577835e-04 8.04644606e-06 9.99999735e-01 -1.50000153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88439141799998 meters 0.054699601754990626 Centerline is valid? [True, True] Translation: X:242.82, Y:9.63, Z:-1.50 [[ 9.99963782e-01 8.32578070e-03 1.76544230e-03 2.42822910e+02] [-8.32576257e-03 9.99965340e-01 -1.76207231e-05 9.62801599e+00] [-1.76552782e-03 2.92143148e-06 9.99998441e-01 -1.49903140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94439141799998 meters 0.054991681653563634 Centerline is valid? [True, True] Translation: X:242.88, Y:9.63, Z:-1.50 [[ 9.99873287e-01 1.59182816e-02 1.35134768e-04 2.42881060e+02] [-1.59182815e-02 9.99873296e-01 -1.51603398e-06 9.63374849e+00] [-1.35141779e-04 -6.35271407e-07 9.99999991e-01 -1.50035874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00439141799998 meters 0.055119205885789176 Centerline is valid? [True, True] Translation: X:242.94, Y:9.64, Z:-1.50 [[ 9.99815101e-01 1.92140289e-02 -7.64274582e-04 2.42939640e+02] [-1.92140292e-02 9.99815393e-01 6.85562198e-06 9.63504990e+00] [ 7.64265216e-04 7.83043978e-06 9.99999708e-01 -1.50071116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06439141799999 meters 0.055184582265414416 Centerline is valid? [True, True] Translation: X:243.00, Y:9.63, Z:-1.50 [[ 9.99765179e-01 2.16228006e-02 -1.42861375e-03 2.42998216e+02] [-2.16228037e-02 9.99766200e-01 1.32831855e-05 9.63457672e+00] [ 1.42856696e-03 1.76105683e-05 9.99998979e-01 -1.50139886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124391418 meters 0.055179152463122855 Centerline is valid? [True, True] Translation: X:243.06, Y:9.63, Z:-1.50 [[ 9.99767226e-01 2.15138392e-02 -1.62751478e-03 2.43055117e+02] [-2.15138426e-02 9.99768550e-01 1.54184018e-05 9.63144546e+00] [ 1.62746980e-03 1.95992839e-05 9.99998675e-01 -1.50083124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18439141799996 meters 0.05506566085046382 Centerline is valid? [True, True] Translation: X:243.11, Y:9.63, Z:-1.50 [[ 9.99802466e-01 1.98686036e-02 -5.16856377e-04 2.43113616e+02] [-1.98686038e-02 9.99802600e-01 4.84807693e-06 9.63195273e+00] [ 5.16850674e-04 5.42209530e-06 9.99999866e-01 -1.50151919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24439141799996 meters 0.05542352092892277 Centerline is valid? [True, True] Translation: X:243.17, Y:9.62, Z:-1.50 [[ 9.99866845e-01 1.63181219e-02 1.08422668e-04 2.43171157e+02] [-1.63181219e-02 9.99866851e-01 -1.28183740e-06 9.62374918e+00] [-1.08429148e-04 -4.87587588e-07 9.99999994e-01 -1.49802373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30439141799997 meters 0.05519413859306204 Centerline is valid? [True, True] Translation: X:243.23, Y:9.62, Z:-1.50 [[ 9.99914822e-01 1.30389448e-02 5.77707138e-04 2.43230196e+02] [-1.30389437e-02 9.99914989e-01 -5.68224126e-06 9.62166455e+00] [-5.77732117e-04 -1.85093356e-06 9.99999833e-01 -1.50072804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36439141799997 meters 0.05517024967928067 Centerline is valid? [True, True] Translation: X:243.29, Y:9.61, Z:-1.50 [[ 9.99966272e-01 8.17248946e-03 8.15269291e-04 2.43288187e+02] [-8.17248563e-03 9.99966605e-01 -8.02304866e-06 9.61311561e+00] [-8.15307633e-04 1.36000150e-06 9.99999668e-01 -1.49943605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42439141799997 meters 0.05582280966615832 Centerline is valid? [True, True] Translation: X:243.35, Y:9.60, Z:-1.50 [[ 9.99988542e-01 4.74195163e-03 6.55545431e-04 2.43347018e+02] [-4.74194835e-03 9.99988757e-01 -6.55407494e-06 9.60458315e+00] [-6.55569140e-04 3.44543727e-06 9.99999785e-01 -1.50186651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48439141799997 meters 0.055200802892180156 Centerline is valid? [True, True] Translation: X:243.41, Y:9.60, Z:-1.50 [[ 9.99993437e-01 3.53812254e-03 7.80146008e-04 2.43406256e+02] [-3.53811777e-03 9.99993741e-01 -7.49356964e-06 9.59915263e+00] [-7.80167638e-04 4.73327200e-06 9.99999696e-01 -1.50292044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54439141799998 meters 0.05540252840933148 Centerline is valid? [True, True] Translation: X:243.47, Y:9.60, Z:-1.50 [[ 9.99990470e-01 4.11496017e-03 1.45861355e-03 2.43465425e+02] [-4.11494425e-03 9.99991534e-01 -1.39144725e-05 9.59577568e+00] [-1.45865846e-03 7.91222651e-06 9.99998936e-01 -1.50129135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60439141799998 meters 0.05503414675847057 Centerline is valid? [True, True] Translation: X:243.53, Y:9.59, Z:-1.50 [[ 9.99960305e-01 8.73335665e-03 1.76551501e-03 2.43525299e+02] [-8.73334078e-03 9.99961864e-01 -1.66982897e-05 9.59274013e+00] [-1.76559351e-03 1.27878261e-06 9.99998441e-01 -1.50056169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66439141799998 meters 0.055669107710075105 Centerline is valid? [True, True] Translation: X:243.58, Y:9.59, Z:-1.50 [[ 9.99917707e-01 1.26740918e-02 1.98683043e-03 2.43583718e+02] [-1.26740787e-02 9.99919680e-01 -1.91946044e-05 9.58983402e+00] [-1.98691412e-03 -5.98822042e-06 9.99998026e-01 -1.49985147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72439141799998 meters 0.05555433276586636 Centerline is valid? [True, True] Translation: X:243.64, Y:9.59, Z:-1.50 [[ 9.99811651e-01 1.93215919e-02 1.82722317e-03 2.43642980e+02] [-1.93215927e-02 9.99813320e-01 -1.72096197e-05 9.59039174e+00] [-1.82721458e-03 -1.80984834e-05 9.99998330e-01 -1.50315026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78439141799998 meters 0.05655105812828966 Centerline is valid? [True, True] Translation: X:243.70, Y:9.58, Z:-1.50 [[ 9.99686439e-01 2.50321416e-02 6.44944741e-04 2.43702672e+02] [-2.50321428e-02 9.99686647e-01 -6.08582192e-06 9.57854454e+00] [-6.44894987e-04 -1.00604353e-05 9.99999792e-01 -1.50199492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844391418 meters 0.05741246290299259 Centerline is valid? [True, True] Translation: X:243.76, Y:9.58, Z:-1.50 [[ 9.99625383e-01 2.73691809e-02 -1.46668639e-04 2.43762555e+02] [-2.73691810e-02 9.99625394e-01 1.32023237e-06 9.58074294e+00] [ 1.46649830e-04 2.69446274e-06 9.99999989e-01 -1.50451546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90439141799996 meters 0.05712760725942523 Centerline is valid? [True, True] Translation: X:243.82, Y:9.57, Z:-1.50 [[ 9.99652347e-01 2.63639804e-02 3.54654303e-04 2.43821129e+02] [-2.63639808e-02 9.99652410e-01 -3.46364596e-06 9.57434104e+00] [-3.54622344e-04 -5.88765742e-06 9.99999937e-01 -1.50420845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96439141799996 meters 0.05616079584926277 Centerline is valid? [True, True] Translation: X:243.88, Y:9.56, Z:-1.50 [[ 9.99767379e-01 2.15570651e-02 6.93606325e-04 2.43879820e+02] [-2.15570657e-02 9.99767619e-01 -6.60549709e-06 9.56169412e+00] [-6.93587540e-04 -8.34815662e-06 9.99999759e-01 -1.50279822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02439141799996 meters 0.05663432203757138 Centerline is valid? [True, True] Translation: X:243.94, Y:9.55, Z:-1.50 [[ 9.99921963e-01 1.22588378e-02 2.40606127e-03 2.43939237e+02] [-1.22588194e-02 9.99924858e-01 -2.23992683e-05 9.55163962e+00] [-2.40615506e-03 -7.09795026e-06 9.99997105e-01 -1.50339054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08439141799997 meters 0.05648791458097428 Centerline is valid? [True, True] Translation: X:244.00, Y:9.54, Z:-1.50 [[ 9.99988097e-01 4.39923758e-03 2.11031757e-03 2.43997432e+02] [-4.39920580e-03 9.99990323e-01 -1.97017752e-05 9.54200990e+00] [-2.11038383e-03 1.04178194e-05 9.99997773e-01 -1.50457876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14439141799997 meters 0.056348509706259 Centerline is valid? [True, True] Translation: X:244.06, Y:9.53, Z:-1.51 [[ 9.99955427e-01 -9.23890837e-03 1.94600458e-03 2.44057873e+02] [ 9.23896094e-03 9.99957320e-01 -1.80262546e-05 9.52765149e+00] [-1.94575498e-03 3.60045114e-05 9.99998106e-01 -1.50502905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20439141799997 meters 0.05705982082926946 Centerline is valid? [True, True] Translation: X:244.12, Y:9.52, Z:-1.51 [[ 9.99823045e-01 -1.86584797e-02 2.39561335e-03 2.44116864e+02] [ 1.86585863e-02 9.99825913e-01 -2.21453209e-05 9.51789098e+00] [-2.39478310e-03 6.68401605e-05 9.99997130e-01 -1.50509329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26439141799997 meters 0.05694387847711373 Centerline is valid? [True, True] Translation: X:244.18, Y:9.51, Z:-1.51 [[ 9.99498271e-01 -3.15721069e-02 2.53138609e-03 2.44177678e+02] [ 3.15722674e-02 9.99501471e-01 -2.34551497e-05 9.51196801e+00] [-2.52938360e-03 1.03364980e-04 9.99996796e-01 -1.50501078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32439141799998 meters 0.0568131945076787 Centerline is valid? [True, True] Translation: X:244.24, Y:9.51, Z:-1.51 [[ 9.99227838e-01 -3.92638445e-02 1.44161990e-03 2.44238048e+02] [ 3.92639046e-02 9.99228876e-01 -1.33576212e-05 9.51237161e+00] [-1.43998376e-03 6.99509332e-05 9.99998961e-01 -1.50579403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38439141799998 meters 0.057573064934934734 Centerline is valid? [True, True] Translation: X:244.30, Y:9.51, Z:-1.51 [[ 9.99174355e-01 -4.06275493e-02 -1.00769573e-04 2.44298458e+02] [ 4.06275496e-02 9.99174360e-01 9.85690034e-07 9.50919594e+00] [ 1.00646328e-04 -5.07889703e-06 9.99999995e-01 -1.50722200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44439141799998 meters 0.056341795558342095 Centerline is valid? [True, True] Translation: X:244.36, Y:9.52, Z:-1.51 [[ 9.99232515e-01 -3.91643957e-02 -7.28772986e-04 2.44360144e+02] [ 3.91644111e-02 9.99232780e-01 6.94040927e-06 9.51722348e+00] [ 7.27942040e-04 -3.54770474e-05 9.99999734e-01 -1.50697042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50439141799998 meters 0.058564788085425645 Centerline is valid? [True, True] Translation: X:244.42, Y:9.51, Z:-1.51 [[ 9.99366215e-01 -3.55691082e-02 -1.41644432e-03 2.44420125e+02] [ 3.55691626e-02 9.99367217e-01 1.31924510e-05 9.50607456e+00] [ 1.41507877e-03 -6.35658281e-05 9.99998997e-01 -1.50895559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56439141799999 meters 0.05845121663768664 Centerline is valid? [True, True] Translation: X:244.48, Y:9.51, Z:-1.51 [[ 9.99565325e-01 -2.94813752e-02 1.02477356e-04 2.44481293e+02] [ 2.94813754e-02 9.99565330e-01 -9.48182590e-07 9.51394707e+00] [-1.02404859e-04 3.96894386e-06 9.99999995e-01 -1.50691658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624391418 meters 0.058428788005939425 Centerline is valid? [True, True] Translation: X:244.54, Y:9.52, Z:-1.51 [[ 9.99748543e-01 -2.23821444e-02 1.37489888e-03 2.44541184e+02] [ 2.23821832e-02 9.99749487e-01 -1.28440745e-05 9.51696673e+00] [-1.37426697e-03 4.36140834e-05 9.99999055e-01 -1.50601861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68439141799996 meters 0.05823873282181938 Centerline is valid? [True, True] Translation: X:244.60, Y:9.52, Z:-1.51 [[ 9.99840009e-01 -1.78049560e-02 1.71454027e-03 2.44602232e+02] [ 1.78050095e-02 9.99841478e-01 -1.59269022e-05 9.52326367e+00] [-1.71398490e-03 4.64517598e-05 9.99998530e-01 -1.50607926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74439141799996 meters 0.05697848043053582 Centerline is valid? [True, True] Translation: X:244.66, Y:9.54, Z:-1.51 [[ 9.99937738e-01 -1.11422261e-02 6.09825304e-04 2.44662578e+02] [ 1.11422316e-02 9.99937923e-01 -5.68324565e-06 9.53887959e+00] [-6.09724124e-04 1.24777066e-05 9.99999814e-01 -1.50563332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80439141799997 meters 0.05629731895411576 Centerline is valid? [True, True] Translation: X:244.72, Y:9.54, Z:-1.51 [[ 9.99986513e-01 -5.19329198e-03 -6.12765175e-05 2.44723788e+02] [ 5.19329203e-03 9.99986515e-01 5.91734888e-07 9.54478927e+00] [ 6.12726180e-05 -9.09953752e-07 9.99999998e-01 -1.50685758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86439141799997 meters 0.05657655338085986 Centerline is valid? [True, True] Translation: X:244.78, Y:9.55, Z:-1.51 [[ 9.99999813e-01 4.65494664e-04 -3.95927822e-04 2.44784308e+02] [-4.65493219e-04 9.99999892e-01 3.74314613e-06 9.55434167e+00] [ 3.95929521e-04 -3.55884371e-06 9.99999922e-01 -1.50574529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92439141799997 meters 0.055744238897001995 Centerline is valid? [True, True] Translation: X:244.84, Y:9.56, Z:-1.51 [[ 9.99991952e-01 4.00649268e-03 -2.09000276e-04 2.44843948e+02] [-4.00649237e-03 9.99991974e-01 1.89734706e-06 9.55768658e+00] [ 2.09006200e-04 -1.05997377e-06 9.99999978e-01 -1.50652305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98439141799997 meters 0.056599496964208885 Centerline is valid? [True, True] Translation: X:244.90, Y:9.56, Z:-1.50 [[ 9.99980364e-01 6.26109284e-03 2.63872657e-04 2.44902822e+02] [-6.26109237e-03 9.99980399e-01 -2.59892808e-06 9.56305607e+00] [-2.63883757e-04 9.46745977e-07 9.99999965e-01 -1.50355031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04439141799998 meters 0.056008438982830464 Centerline is valid? [True, True] Translation: X:244.96, Y:9.56, Z:-1.51 [[ 9.99981973e-01 5.95545082e-03 7.65670819e-04 2.44962094e+02] [-5.95544703e-03 9.99982266e-01 -7.23367016e-06 9.56116992e+00] [-7.65700321e-04 2.67362777e-06 9.99999707e-01 -1.50665179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10439141799998 meters 0.055659373972750316 Centerline is valid? [True, True] Translation: X:245.02, Y:9.56, Z:-1.51 [[ 9.99995401e-01 1.76143299e-03 2.46870651e-03 2.45021944e+02] [-1.76138159e-03 9.99998449e-01 -2.29922074e-05 9.55856305e+00] [-2.46874318e-03 1.86437675e-05 9.99996952e-01 -1.50573404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16439141799998 meters 0.056038082408949134 Centerline is valid? [True, True] Translation: X:245.08, Y:9.55, Z:-1.51 [[ 9.99978950e-01 -5.73657346e-03 3.03157095e-03 2.45083161e+02] [ 5.73668463e-03 9.99983545e-01 -2.79755640e-05 9.55205638e+00] [-3.03136059e-03 4.53661416e-05 9.99995404e-01 -1.50677284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22439141799998 meters 0.05647491976776528 Centerline is valid? [True, True] Translation: X:245.14, Y:9.55, Z:-1.51 [[ 9.99921862e-01 -1.21686409e-02 2.86254476e-03 2.45143050e+02] [ 1.21687666e-02 9.99925957e-01 -2.64792517e-05 9.54505247e+00] [-2.86201059e-03 6.13108217e-05 9.99995903e-01 -1.50808563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28439141799998 meters 0.056330041503225244 Centerline is valid? [True, True] Translation: X:245.21, Y:9.55, Z:-1.51 [[ 9.99894267e-01 -1.41701414e-02 3.26531676e-03 2.45205091e+02] [ 1.41703154e-02 9.99899596e-01 -3.01683420e-05 9.55199888e+00] [-3.26456142e-03 7.64357206e-05 9.99994668e-01 -1.50850189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344391418 meters 0.05525263636049478 Centerline is valid? [True, True] Translation: X:245.27, Y:9.55, Z:-1.51 [[ 9.99922908e-01 -1.19677025e-02 3.30926083e-03 2.45265305e+02] [ 1.19678698e-02 9.99928382e-01 -3.07540390e-05 9.54643585e+00] [-3.30865577e-03 7.03564710e-05 9.99994524e-01 -1.50987651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40439141799996 meters 0.05592272018034573 Centerline is valid? [True, True] Translation: X:245.33, Y:9.55, Z:-1.51 [[ 9.99964870e-01 -7.52631052e-03 3.68968863e-03 2.45326086e+02] [ 7.52648840e-03 9.99971675e-01 -3.43268904e-05 9.54875609e+00] [-3.68932577e-03 6.20960832e-05 9.99993192e-01 -1.51120601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46439141799996 meters 0.05566733020906185 Centerline is valid? [True, True] Translation: X:245.39, Y:9.56, Z:-1.51 [[ 9.99986378e-01 2.64925749e-03 4.49721255e-03 2.45385763e+02] [-2.64909582e-03 9.99996490e-01 -4.19060822e-05 9.55582379e+00] [-4.49730778e-03 2.99919644e-05 9.99989887e-01 -1.51147742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52439141799996 meters 0.05559892298505973 Centerline is valid? [True, True] Translation: X:245.45, Y:9.56, Z:-1.51 [[ 9.99877492e-01 1.47472197e-02 5.24593003e-03 2.45446471e+02] [-1.47471665e-02 9.99891253e-01 -4.88296437e-05 9.56364159e+00] [-5.24607966e-03 -2.85389418e-05 9.99986239e-01 -1.51104665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58439141799997 meters 0.056242697168874346 Centerline is valid? [True, True] Translation: X:245.51, Y:9.57, Z:-1.51 [[ 9.99698624e-01 2.42137343e-02 4.04426966e-03 2.45506424e+02] [-2.42137799e-02 9.99706803e-01 -3.76792193e-05 9.56914502e+00] [-4.04399625e-03 -6.02591919e-05 9.99991821e-01 -1.51229416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64439141799997 meters 0.05655406662679745 Centerline is valid? [True, True] Translation: X:245.57, Y:9.57, Z:-1.51 [[ 9.99632278e-01 2.69274216e-02 3.19744480e-03 2.45565578e+02] [-2.69274639e-02 9.99637390e-01 -2.98347906e-05 9.56672145e+00] [-3.19708874e-03 -5.62752597e-05 9.99994888e-01 -1.51354919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70439141799997 meters 0.05683932076605899 Centerline is valid? [True, True] Translation: X:245.62, Y:9.56, Z:-1.52 [[ 9.99670200e-01 2.56551519e-02 1.14194783e-03 2.45623679e+02] [-2.56551563e-02 9.99670852e-01 -1.08162320e-05 9.56354560e+00] [-1.14184946e-03 -1.84841853e-05 9.99999348e-01 -1.51633775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76439141799997 meters 0.05646207078011458 Centerline is valid? [True, True] Translation: X:245.68, Y:9.55, Z:-1.52 [[ 9.99813355e-01 1.92893086e-02 1.08504375e-03 2.45683456e+02] [-1.92893090e-02 9.99813944e-01 -1.00878540e-05 9.55307749e+00] [-1.08503646e-03 -1.08437729e-05 9.99999411e-01 -1.51599950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82439141799998 meters 0.05592984984955894 Centerline is valid? [True, True] Translation: X:245.74, Y:9.54, Z:-1.52 [[ 9.99960281e-01 8.48574668e-03 2.72546213e-03 2.45743453e+02] [-8.48570928e-03 9.99963995e-01 -2.52884312e-05 9.54303334e+00] [-2.72557859e-03 2.15994753e-06 9.99996286e-01 -1.51513363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88439141799998 meters 0.05588751229286222 Centerline is valid? [True, True] Translation: X:245.80, Y:9.53, Z:-1.52 [[ 9.99989913e-01 4.56299049e-06 4.49147933e-03 2.45802329e+02] [-4.37675822e-06 9.99999999e-01 -4.14732715e-05 9.53405776e+00] [-4.49147952e-03 4.14531951e-05 9.99989912e-01 -1.51534015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94439141799998 meters 0.05677125164080855 Centerline is valid? [True, True] Translation: X:245.86, Y:9.52, Z:-1.51 [[ 9.99877400e-01 -1.44647420e-02 5.99628759e-03 2.45862144e+02] [ 1.44653336e-02 9.99895370e-01 -5.53018090e-05 9.51912554e+00] [-5.99486028e-03 1.42033329e-04 9.99982021e-01 -1.51426683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00439141799998 meters 0.057112411207677155 Centerline is valid? [True, True] Translation: X:245.92, Y:9.51, Z:-1.51 [[ 9.99670434e-01 -2.49977342e-02 5.84260264e-03 2.45922544e+02] [ 2.49984753e-02 9.99687488e-01 -5.38419730e-05 9.51304476e+00] [-5.83943083e-03 1.99880386e-04 9.99982930e-01 -1.51477455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06439141799999 meters 0.05955151898861534 Centerline is valid? [True, True] Translation: X:245.98, Y:9.49, Z:-1.52 [[ 9.99184834e-01 -3.99807510e-02 5.58641653e-03 2.45982066e+02] [ 3.99816622e-02 9.99200412e-01 -5.14942017e-05 9.49487969e+00] [-5.57989093e-03 2.74806444e-04 9.99984395e-01 -1.51640581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124391418 meters 0.05701877480820714 Centerline is valid? [True, True] Translation: X:246.04, Y:9.50, Z:-1.52 [[ 9.98753147e-01 -4.95515322e-02 6.06599086e-03 2.46042967e+02] [ 4.95527827e-02 9.98771505e-01 -5.59374364e-05 9.50151799e+00] [-6.05576703e-03 3.56454418e-04 9.99981600e-01 -1.51693343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18439141799996 meters 0.05767741468946807 Centerline is valid? [True, True] Translation: X:246.10, Y:9.50, Z:-1.52 [[ 9.98704416e-01 -5.06932144e-02 4.43697078e-03 2.46104073e+02] [ 5.06938947e-02 9.98714237e-01 -4.09073190e-05 9.50064547e+00] [-4.42919217e-03 2.65781650e-04 9.99990156e-01 -1.51841706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24439141799996 meters 0.06004915400420507 Centerline is valid? [True, True] Translation: X:246.16, Y:9.50, Z:-1.52 [[ 9.98836156e-01 -4.80986563e-02 3.58496092e-03 2.46163399e+02] [ 4.80990839e-02 9.98842569e-01 -3.31081064e-05 9.49854035e+00] [-3.57921912e-03 2.05502910e-04 9.99993573e-01 -1.52018251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30439141799997 meters 0.055009710656066205 Centerline is valid? [True, True] Translation: X:246.22, Y:9.52, Z:-1.52 [[ 9.99118836e-01 -4.18467967e-02 3.22432615e-03 2.46224087e+02] [ 4.18471100e-02 9.99124026e-01 -2.97310981e-05 9.52107115e+00] [-3.22025757e-03 1.64633631e-04 9.99994801e-01 -1.52076635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36439141799997 meters 0.05494686561062035 Centerline is valid? [True, True] Translation: X:246.29, Y:9.53, Z:-1.52 [[ 9.99306938e-01 -3.70955148e-02 3.09290096e-03 2.46285063e+02] [ 3.70957803e-02 9.99311714e-01 -2.85120104e-05 9.52600500e+00] [-3.08971449e-03 1.43225824e-04 9.99995217e-01 -1.52148720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42439141799997 meters 0.05743408530220267 Centerline is valid? [True, True] Translation: X:246.34, Y:9.52, Z:-1.52 [[ 9.99540498e-01 -3.01956886e-02 2.64820544e-03 2.46344408e+02] [ 3.01958592e-02 9.99544001e-01 -2.44683612e-05 9.52223575e+00] [-2.64625902e-03 1.04421956e-04 9.99996493e-01 -1.52250431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48439141799997 meters 0.056544219938019995 Centerline is valid? [True, True] Translation: X:246.41, Y:9.54, Z:-1.52 [[ 9.99712697e-01 -2.36656191e-02 3.80297511e-03 2.46405057e+02] [ 2.36659235e-02 9.99719922e-01 -3.50579432e-05 9.53511685e+00] [-3.80108031e-03 1.25048789e-04 9.99992768e-01 -1.52175483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54439141799998 meters 0.055468069720506566 Centerline is valid? [True, True] Translation: X:246.47, Y:9.55, Z:-1.52 [[ 9.99828188e-01 -1.77516634e-02 5.33609163e-03 2.46465732e+02] [ 1.77521786e-02 9.99842416e-01 -4.92005650e-05 9.54688543e+00] [-5.33437736e-03 1.43919363e-04 9.99985762e-01 -1.52079022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60439141799998 meters 0.05540587891732141 Centerline is valid? [True, True] Translation: X:246.53, Y:9.55, Z:-1.52 [[ 9.99898559e-01 -1.32818724e-02 5.14419435e-03 2.46525178e+02] [ 1.32822921e-02 9.99911785e-01 -4.74299559e-05 9.54955589e+00] [-5.14311059e-03 1.15751836e-04 9.99986767e-01 -1.52103118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66439141799998 meters 0.055526415881783274 Centerline is valid? [True, True] Translation: X:246.59, Y:9.56, Z:-1.52 [[ 9.99964978e-01 -6.69008824e-03 5.02848408e-03 2.46585591e+02] [ 6.69040586e-03 9.99977618e-01 -4.63444180e-05 9.55896394e+00] [-5.02806149e-03 7.99853943e-05 9.99987356e-01 -1.52232355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72439141799998 meters 0.05456710990413031 Centerline is valid? [True, True] Translation: X:246.65, Y:9.56, Z:-1.52 [[ 9.99988888e-01 -1.30216408e-03 4.53089270e-03 2.46645940e+02] [ 1.30236630e-03 9.99999151e-01 -4.16810656e-05 9.56154800e+00] [-4.53083457e-03 4.75814844e-05 9.99989735e-01 -1.52368072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78439141799998 meters 0.0550131826547725 Centerline is valid? [True, True] Translation: X:246.71, Y:9.57, Z:-1.52 [[ 9.99958565e-01 7.56270636e-03 5.06685757e-03 2.46707038e+02] [-7.56256562e-03 9.99971402e-01 -4.69339463e-05 9.57300595e+00] [-5.06706761e-03 8.61355877e-06 9.99987162e-01 -1.52290940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844391418 meters 0.05510613063878593 Centerline is valid? [True, True] Translation: X:246.77, Y:9.58, Z:-1.52 [[ 9.99887234e-01 1.36123524e-02 6.34219596e-03 2.46766455e+02] [-1.36122535e-02 9.99907347e-01 -5.87609301e-05 9.57807341e+00] [-6.34240822e-03 -2.75772756e-05 9.99979886e-01 -1.52297857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90439141799996 meters 0.05522742334543688 Centerline is valid? [True, True] Translation: X:246.82, Y:9.58, Z:-1.52 [[ 9.99881576e-01 1.39094636e-02 6.58485118e-03 2.46824925e+02] [-1.39093638e-02 9.99903258e-01 -6.09488171e-05 9.57734120e+00] [-6.58506191e-03 -3.06494913e-05 9.99978318e-01 -1.52334955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96439141799996 meters 0.055061174838848995 Centerline is valid? [True, True] Translation: X:246.88, Y:9.58, Z:-1.52 [[ 9.99913918e-01 1.11826688e-02 6.86324038e-03 2.46884255e+02] [-1.11824974e-02 9.99937472e-01 -6.33387418e-05 9.57632020e+00] [-6.86351953e-03 -1.34148786e-05 9.99976446e-01 -1.52366330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02439141799996 meters 0.054774807428241215 Centerline is valid? [True, True] Translation: X:246.94, Y:9.57, Z:-1.52 [[ 9.99974150e-01 3.28739364e-03 6.39475313e-03 2.46944841e+02] [-3.28708533e-03 9.99994596e-01 -5.87235926e-05 9.56974541e+00] [-6.39491162e-03 3.77019754e-05 9.99979552e-01 -1.52425538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08439141799997 meters 0.055132711313039005 Centerline is valid? [True, True] Translation: X:247.01, Y:9.56, Z:-1.52 [[ 9.99976772e-01 -2.95622056e-03 6.14140323e-03 2.47005925e+02] [ 2.95662269e-03 9.99995628e-01 -5.63998923e-05 9.56219585e+00] [-6.14120964e-03 7.45563944e-05 9.99981140e-01 -1.52490310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14439141799997 meters 0.055072200679359126 Centerline is valid? [True, True] Translation: X:247.07, Y:9.55, Z:-1.53 [[ 9.99907282e-01 -1.25069367e-02 5.38544231e-03 2.47066880e+02] [ 1.25073850e-02 9.99921778e-01 -4.95692044e-05 9.55492111e+00] [-5.38440109e-03 1.16922409e-04 9.99985497e-01 -1.52643299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20439141799997 meters 0.05693629392313518 Centerline is valid? [True, True] Translation: X:247.13, Y:9.54, Z:-1.53 [[ 9.99798833e-01 -1.94693113e-02 4.82069423e-03 2.47126964e+02] [ 1.94697517e-02 9.99810445e-01 -4.44302420e-05 9.54383252e+00] [-4.81891542e-03 1.38279024e-04 9.99988379e-01 -1.52774356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26439141799997 meters 0.05370615623183907 Centerline is valid? [True, True] Translation: X:247.19, Y:9.56, Z:-1.53 [[ 9.99729845e-01 -2.25601797e-02 5.59237128e-03 2.47188358e+02] [ 2.25608208e-02 9.99745471e-01 -5.15717297e-05 9.55529961e+00] [-5.58978439e-03 1.77726284e-04 9.99984361e-01 -1.52788661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32439141799998 meters 0.05574008160536955 Centerline is valid? [True, True] Translation: X:247.25, Y:9.54, Z:-1.53 [[ 9.99734729e-01 -2.25265288e-02 4.79876089e-03 2.47250111e+02] [ 2.25270006e-02 9.99746234e-01 -4.42887659e-05 9.54379902e+00] [-4.79654546e-03 1.52378707e-04 9.99988485e-01 -1.52827198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38439141799998 meters 0.0562822852555688 Centerline is valid? [True, True] Translation: X:247.31, Y:9.54, Z:-1.53 [[ 9.99746622e-01 -2.19296616e-02 5.07764264e-03 2.47312538e+02] [ 2.19301834e-02 9.99759504e-01 -4.70913220e-05 9.54273373e+00] [-5.07538879e-03 1.58433024e-04 9.99987108e-01 -1.52873211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44439141799998 meters 0.05393436618553782 Centerline is valid? [True, True] Translation: X:247.38, Y:9.56, Z:-1.53 [[ 9.99741637e-01 -2.21741819e-02 4.99653223e-03 2.47375168e+02] [ 2.21746911e-02 9.99754110e-01 -4.65259161e-05 9.55514267e+00] [-4.99427196e-03 1.57310454e-04 9.99987516e-01 -1.52949572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50439141799998 meters 0.05460299819757146 Centerline is valid? [True, True] Translation: X:247.44, Y:9.56, Z:-1.53 [[ 9.99731843e-01 -2.28218169e-02 3.92505438e-03 2.47437186e+02] [ 2.28221364e-02 9.99739540e-01 -3.66335063e-05 9.55521205e+00] [-3.92319602e-03 1.26201809e-04 9.99992296e-01 -1.53043109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56439141799999 meters 0.05618362409863677 Centerline is valid? [True, True] Translation: X:247.50, Y:9.55, Z:-1.53 [[ 9.99728614e-01 -2.31414846e-02 2.67782503e-03 2.47498271e+02] [ 2.31416346e-02 9.99732196e-01 -2.50452979e-05 9.54731645e+00] [-2.67652832e-03 8.70077494e-05 9.99996414e-01 -1.53239909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624391418 meters 0.053674972927929464 Centerline is valid? [True, True] Translation: X:247.56, Y:9.56, Z:-1.53 [[ 9.99797163e-01 -1.99527616e-02 2.74246230e-03 2.47558946e+02] [ 1.99529073e-02 9.99800921e-01 -2.57746989e-05 9.55860147e+00] [-2.74140206e-03 8.04895669e-05 9.99996239e-01 -1.53204634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68439141799996 meters 0.05378535607549435 Centerline is valid? [True, True] Translation: X:247.62, Y:9.56, Z:-1.53 [[ 9.99917397e-01 -1.21542564e-02 4.18015008e-03 2.47619407e+02] [ 1.21545270e-02 9.99926130e-01 -3.93460146e-05 9.56340422e+00] [-4.17936307e-03 9.01505116e-05 9.99991262e-01 -1.53146327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74439141799996 meters 0.0543617665751914 Centerline is valid? [True, True] Translation: X:247.68, Y:9.57, Z:-1.53 [[ 9.99980268e-01 -2.46053263e-03 5.78010760e-03 2.47679905e+02] [ 2.46088854e-03 9.99996971e-01 -5.44625436e-05 9.57033197e+00] [-5.77995608e-03 6.86856695e-05 9.99983294e-01 -1.53107893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80439141799997 meters 0.0537850744868768 Centerline is valid? [True, True] Translation: X:247.74, Y:9.57, Z:-1.53 [[ 9.99977157e-01 3.24449650e-03 5.92944569e-03 2.47740194e+02] [-3.24422197e-03 9.99994736e-01 -5.59172872e-05 9.57195056e+00] [-5.92959590e-03 3.66795719e-05 9.99982419e-01 -1.53119055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86439141799997 meters 0.05439355565702132 Centerline is valid? [True, True] Translation: X:247.80, Y:9.57, Z:-1.53 [[ 9.99961330e-01 6.70783433e-03 5.68709076e-03 2.47801804e+02] [-6.70763755e-03 9.99977502e-01 -5.36743190e-05 9.57433161e+00] [-5.68732285e-03 1.55252999e-05 9.99983827e-01 -1.53131280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92439141799997 meters 0.05343197144867931 Centerline is valid? [True, True] Translation: X:247.86, Y:9.58, Z:-1.53 [[ 9.99946912e-01 8.87667526e-03 5.23242679e-03 2.47862218e+02] [-8.87653792e-03 9.99960602e-01 -4.94708160e-05 9.57582454e+00] [-5.23265978e-03 3.02235477e-06 9.99986310e-01 -1.53218179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98439141799997 meters 0.05446616221836914 Centerline is valid? [True, True] Translation: X:247.92, Y:9.57, Z:-1.53 [[ 9.99956196e-01 8.12673831e-03 4.64356071e-03 2.47921592e+02] [-8.12662200e-03 9.99966978e-01 -4.39146981e-05 9.57406899e+00] [-4.64376425e-03 6.17631183e-06 9.99989218e-01 -1.53394422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04439141799998 meters 0.054301664371719856 Centerline is valid? [True, True] Translation: X:247.98, Y:9.57, Z:-1.53 [[ 9.99978545e-01 5.11328714e-03 4.09435944e-03 2.47980952e+02] [-5.11317158e-03 9.99986927e-01 -3.86927198e-05 9.56983351e+00] [-4.09450376e-03 1.77567273e-05 9.99991617e-01 -1.53461952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10439141799998 meters 0.054843403382415105 Centerline is valid? [True, True] Translation: X:248.04, Y:9.57, Z:-1.53 [[ 9.99990927e-01 1.75490673e-03 3.88151584e-03 2.48041204e+02] [-1.75477775e-03 9.99998460e-01 -3.66338623e-05 9.56753596e+00] [-3.88157415e-03 2.98223323e-05 9.99992466e-01 -1.53488862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16439141799998 meters 0.054056167648156524 Centerline is valid? [True, True] Translation: X:248.10, Y:9.56, Z:-1.54 [[ 9.99967855e-01 -5.76014190e-03 5.57754325e-03 2.48101724e+02] [ 5.76052506e-03 9.99983407e-01 -5.26340761e-05 9.56023838e+00] [-5.57714752e-03 8.47619618e-05 9.99984444e-01 -1.53533752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22439141799998 meters 0.056107217073832795 Centerline is valid? [True, True] Translation: X:248.16, Y:9.55, Z:-1.53 [[ 9.99912850e-01 -1.17690474e-02 5.98172532e-03 2.48161563e+02] [ 1.17695962e-02 9.99930734e-01 -5.65506155e-05 9.54760047e+00] [-5.98064544e-03 1.26948179e-04 9.99982108e-01 -1.53495234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28439141799998 meters 0.055195625142945605 Centerline is valid? [True, True] Translation: X:248.22, Y:9.54, Z:-1.54 [[ 9.99717649e-01 -2.29925879e-02 5.99693259e-03 2.48222226e+02] [ 2.29933410e-02 9.99735617e-01 -5.66574091e-05 9.53954548e+00] [-5.99404440e-03 1.94530928e-04 9.99982017e-01 -1.53543433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344391418 meters 0.055201221895092946 Centerline is valid? [True, True] Translation: X:248.28, Y:9.54, Z:-1.54 [[ 9.99494579e-01 -3.12915230e-02 5.60604678e-03 2.48283027e+02] [ 3.12923117e-02 9.99510274e-01 -5.29930857e-05 9.54062544e+00] [-5.60164312e-03 2.28392465e-04 9.99984285e-01 -1.53624214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40439141799996 meters 0.05157068017462197 Centerline is valid? [True, True] Translation: X:248.34, Y:9.55, Z:-1.54 [[ 9.99145247e-01 -4.10149161e-02 5.15285020e-03 2.48343276e+02] [ 4.10157114e-02 9.99158500e-01 -4.87244370e-05 9.55122960e+00] [-5.14651565e-03 2.60030606e-04 9.99986723e-01 -1.53678234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46439141799996 meters 0.05381591940716202 Centerline is valid? [True, True] Translation: X:248.40, Y:9.53, Z:-1.54 [[ 9.98969475e-01 -4.51017938e-02 5.08092651e-03 2.48402656e+02] [ 4.51026196e-02 9.98982358e-01 -4.80091650e-05 9.53429443e+00] [-5.07359064e-03 2.77122786e-04 9.99987091e-01 -1.53752756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52439141799996 meters 0.05347290547131435 Centerline is valid? [True, True] Translation: X:248.46, Y:9.53, Z:-1.54 [[ 9.99046304e-01 -4.35294575e-02 3.41591718e-03 2.48463078e+02] [ 4.35298218e-02 9.99052128e-01 -3.23461716e-05 9.53427283e+00] [-3.41127131e-03 1.81009589e-04 9.99994165e-01 -1.53860870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58439141799997 meters 0.05306925014508893 Centerline is valid? [True, True] Translation: X:248.52, Y:9.54, Z:-1.54 [[ 9.99201684e-01 -3.98816458e-02 2.33442406e-03 2.48523484e+02] [ 3.98818061e-02 9.99204404e-01 -2.21074233e-05 9.54012266e+00] [-2.33168512e-03 1.15190822e-04 9.99997275e-01 -1.53904156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64439141799997 meters 0.05333887734231941 Centerline is valid? [True, True] Translation: X:248.58, Y:9.54, Z:-1.54 [[ 9.99518928e-01 -3.09258117e-02 2.34673811e-03 2.48584375e+02] [ 3.09259490e-02 9.99521678e-01 -2.22182583e-05 9.54466947e+00] [-2.34492850e-03 9.47826727e-05 9.99997246e-01 -1.53900611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70439141799997 meters 0.05380512644751693 Centerline is valid? [True, True] Translation: X:248.64, Y:9.55, Z:-1.54 [[ 9.99731820e-01 -2.29771368e-02 2.88772349e-03 2.48644431e+02] [ 2.29773115e-02 9.99735986e-01 -2.73466608e-05 9.54522401e+00] [-2.88633275e-03 9.36914493e-05 9.99995830e-01 -1.53966656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76439141799997 meters 0.05474351928460169 Centerline is valid? [True, True] Translation: X:248.70, Y:9.55, Z:-1.54 [[ 9.99962809e-01 -8.28081985e-03 2.41019562e-03 2.48704551e+02] [ 8.28089889e-03 9.99965713e-01 -2.28184955e-05 9.55024253e+00] [-2.40992402e-03 4.27762331e-05 9.99997095e-01 -1.54057228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82439141799998 meters 0.05402044102207839 Centerline is valid? [True, True] Translation: X:248.77, Y:9.56, Z:-1.54 [[ 9.99967192e-01 7.61627661e-03 2.75818581e-03 2.48765358e+02] [-7.61623355e-03 9.99970996e-01 -2.61158920e-05 9.56224235e+00] [-2.75830471e-03 5.10804795e-06 9.99996196e-01 -1.54033711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88439141799998 meters 0.054218739616229854 Centerline is valid? [True, True] Translation: X:248.82, Y:9.56, Z:-1.54 [[ 9.99914792e-01 1.27536392e-02 2.78460489e-03 2.48824379e+02] [-1.27536150e-02 9.99918669e-01 -2.64506008e-05 9.56495350e+00] [-2.78471576e-03 -9.06543168e-06 9.99996123e-01 -1.54130936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94439141799998 meters 0.05474804506330491 Centerline is valid? [True, True] Translation: X:248.88, Y:9.57, Z:-1.54 [[ 9.99762047e-01 2.16432580e-02 2.72370850e-03 2.48884239e+02] [-2.16432681e-02 9.99765757e-01 -2.57540059e-05 9.56898157e+00] [-2.72362789e-03 -3.32020757e-05 9.99996290e-01 -1.54202976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00439141799998 meters 0.05478620752694491 Centerline is valid? [True, True] Translation: X:248.94, Y:9.58, Z:-1.54 [[ 9.99504700e-01 3.14506947e-02 1.09972433e-03 2.48943757e+02] [-3.14507023e-02 9.99505304e-01 -1.03749544e-05 9.57717832e+00] [-1.09950660e-03 -2.42172868e-05 9.99999395e-01 -1.54334847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06439141799999 meters 0.05536457080409788 Centerline is valid? [True, True] Translation: X:249.00, Y:9.58, Z:-1.54 [[ 9.99393201e-01 3.48172135e-02 9.95841649e-04 2.49004213e+02] [-3.48172214e-02 9.99393697e-01 -9.39802925e-06 9.57833359e+00] [-9.95565080e-04 -2.52801127e-05 9.99999504e-01 -1.54371711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124391418 meters 0.05491925868310772 Centerline is valid? [True, True] Translation: X:249.06, Y:9.57, Z:-1.54 [[ 9.99477731e-01 3.22605589e-02 1.87643752e-03 2.49063808e+02] [-3.22605824e-02 9.99479492e-01 -1.77790221e-05 9.57035749e+00] [-1.87603438e-03 -4.27652306e-05 9.99998239e-01 -1.54171214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18439141799996 meters 0.05434093051013082 Centerline is valid? [True, True] Translation: X:249.12, Y:9.57, Z:-1.54 [[ 9.99623911e-01 2.73061524e-02 2.53206741e-03 2.49122621e+02] [-2.73061794e-02 9.99627116e-01 -2.39076546e-05 9.56612214e+00] [-2.53177607e-03 -4.52424238e-05 9.99996794e-01 -1.54184246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24439141799996 meters 0.054291685977546966 Centerline is valid? [True, True] Translation: X:249.18, Y:9.56, Z:-1.54 [[ 9.99892890e-01 1.43913529e-02 2.66414797e-03 2.49182619e+02] [-1.43913373e-02 9.99896439e-01 -2.50311948e-05 9.56027841e+00] [-2.66423230e-03 -1.33121383e-05 9.99996451e-01 -1.54329488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30439141799997 meters 0.054270120303456716 Centerline is valid? [True, True] Translation: X:249.24, Y:9.55, Z:-1.54 [[ 9.99990985e-01 3.23976613e-03 2.74468525e-03 2.49241724e+02] [-3.23970720e-03 9.99994752e-01 -2.59159985e-05 9.55235257e+00] [-2.74475480e-03 1.70237883e-05 9.99996233e-01 -1.54367788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36439141799997 meters 0.05366230101107569 Centerline is valid? [True, True] Translation: X:249.30, Y:9.54, Z:-1.54 [[ 9.99888392e-01 -1.47738872e-02 2.22163150e-03 2.49301253e+02] [ 1.47739699e-02 9.99890859e-01 -2.08313039e-05 9.54052941e+00] [-2.22108127e-03 5.36512960e-05 9.99997532e-01 -1.54481717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42439141799997 meters 0.05329482651039804 Centerline is valid? [True, True] Translation: X:249.36, Y:9.53, Z:-1.55 [[ 9.99563054e-01 -2.94973139e-02 1.89967798e-03 2.49361577e+02] [ 2.94974010e-02 9.99564857e-01 -1.78295688e-05 9.53211358e+00] [-1.89832542e-03 7.38573414e-05 9.99998195e-01 -1.54533464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48439141799997 meters 0.053613915689389925 Centerline is valid? [True, True] Translation: X:249.42, Y:9.53, Z:-1.55 [[ 9.99299171e-01 -3.73885319e-02 1.80668425e-03 2.49422413e+02] [ 3.73886235e-02 9.99300801e-01 -1.69401736e-05 9.52866286e+00] [-1.80478765e-03 8.44777385e-05 9.99998368e-01 -1.54606943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54439141799998 meters 0.05300642353868721 Centerline is valid? [True, True] Translation: X:249.48, Y:9.53, Z:-1.55 [[ 9.99220438e-01 -3.94376161e-02 1.78635219e-03 2.49483053e+02] [ 3.94377089e-02 9.99222031e-01 -1.67596348e-05 9.52664450e+00] [-1.78430150e-03 8.71962071e-05 9.99998404e-01 -1.54607783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60439141799998 meters 0.05412233442778184 Centerline is valid? [True, True] Translation: X:249.54, Y:9.52, Z:-1.55 [[ 9.99227730e-01 -3.92884342e-02 6.01456981e-04 2.49544903e+02] [ 3.92884446e-02 9.99227911e-01 -5.40269142e-06 9.52230634e+00] [-6.00780339e-04 2.90288284e-05 9.99999819e-01 -1.54711374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66439141799998 meters 0.05408825551980446 Centerline is valid? [True, True] Translation: X:249.61, Y:9.52, Z:-1.55 [[ 9.99280854e-01 -3.79035037e-02 -1.04870433e-03 2.49605338e+02] [ 3.79035350e-02 9.99281403e-01 9.97244585e-06 9.52176674e+00] [ 1.04757274e-03 -4.97148755e-05 9.99999450e-01 -1.54869250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72439141799998 meters 0.05489545654602884 Centerline is valid? [True, True] Translation: X:249.67, Y:9.52, Z:-1.55 [[ 9.99321957e-01 -3.67728575e-02 -1.83913819e-03 2.49666992e+02] [ 3.67729521e-02 9.99323646e-01 1.76506473e-05 9.52164249e+00] [ 1.83724521e-03 -8.52692199e-05 9.99998309e-01 -1.54974149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78439141799998 meters 0.054178984803205606 Centerline is valid? [True, True] Translation: X:249.73, Y:9.52, Z:-1.55 [[ 9.99428554e-01 -3.37183872e-02 -2.37393784e-03 2.49726894e+02] [ 3.37185355e-02 9.99431368e-01 2.24773228e-05 9.52361054e+00] [ 2.37183004e-03 -1.02510185e-04 9.99997182e-01 -1.55077520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844391418 meters 0.055288621088042264 Centerline is valid? [True, True] Translation: X:249.79, Y:9.53, Z:-1.55 [[ 9.99604898e-01 -2.79566078e-02 -2.91152404e-03 2.49787998e+02] [ 2.79568068e-02 9.99609132e-01 2.76547488e-05 9.52775159e+00] [ 2.90961289e-03 -1.09040737e-04 9.99995761e-01 -1.55184197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90439141799996 meters 0.05494187211474749 Centerline is valid? [True, True] Translation: X:249.85, Y:9.53, Z:-1.55 [[ 9.99742663e-01 -2.24819996e-02 -3.02778694e-03 2.49848308e+02] [ 2.24821898e-02 9.99747243e-01 2.87914163e-05 9.53006019e+00] [ 3.02637436e-03 -9.68552878e-05 9.99995416e-01 -1.55225348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96439141799996 meters 0.05384843189829436 Centerline is valid? [True, True] Translation: X:249.91, Y:9.54, Z:-1.55 [[ 9.99891496e-01 -1.46862484e-02 -1.14466158e-03 2.49909055e+02] [ 1.46862705e-02 9.99892151e-01 1.08892861e-05 9.54069322e+00] [ 1.14437821e-03 -2.76989141e-05 9.99999345e-01 -1.54994958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02439141799996 meters 0.05410579488244839 Centerline is valid? [True, True] Translation: X:249.97, Y:9.55, Z:-1.55 [[ 9.99953044e-01 -9.68118743e-03 -4.28741169e-04 2.49969684e+02] [ 9.68119011e-03 9.99953136e-01 4.15909514e-06 9.54808032e+00] [ 4.28680811e-04 -8.30962460e-06 9.99999908e-01 -1.54821391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08439141799997 meters 0.05404668202420895 Centerline is valid? [True, True] Translation: X:250.03, Y:9.55, Z:-1.55 [[ 9.99959416e-01 -8.98392416e-03 -6.75316928e-04 2.50031875e+02] [ 8.98393069e-03 9.99959644e-01 6.64359609e-06 9.54984921e+00] [ 6.75229989e-04 -1.27103269e-05 9.99999772e-01 -1.54764166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14439141799997 meters 0.054014220459476014 Centerline is valid? [True, True] Translation: X:250.09, Y:9.55, Z:-1.55 [[ 9.99947954e-01 -1.00537957e-02 -1.73495607e-03 2.50092537e+02] [ 1.00538398e-02 9.99949459e-01 1.66879693e-05 9.54794751e+00] [ 1.73470061e-03 -3.41300712e-05 9.99998495e-01 -1.54825471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20439141799997 meters 0.05424453087637034 Centerline is valid? [True, True] Translation: X:250.15, Y:9.55, Z:-1.55 [[ 9.99935330e-01 -1.12480052e-02 -1.67872669e-03 2.50154918e+02] [ 1.12480495e-02 9.99936739e-01 1.69237873e-05 9.55126075e+00] [ 1.67843013e-03 -3.58050937e-05 9.99998591e-01 -1.54681277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26439141799997 meters 0.054442532248805714 Centerline is valid? [True, True] Translation: X:250.22, Y:9.55, Z:-1.55 [[ 9.99891254e-01 -1.46581797e-02 -1.61785004e-03 2.50215163e+02] [ 1.46582243e-02 9.99892562e-01 1.57150999e-05 9.54900820e+00] [ 1.61744587e-03 -3.94281997e-05 9.99998691e-01 -1.54587094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32439141799998 meters 0.05550832553525835 Centerline is valid? [True, True] Translation: X:250.28, Y:9.54, Z:-1.55 [[ 9.99841914e-01 -1.77372327e-02 -1.23971271e-03 2.50275414e+02] [ 1.77372613e-02 9.99842682e-01 1.20617276e-05 9.54311256e+00] [ 1.23930374e-03 -3.40489291e-05 9.99999231e-01 -1.54552670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38439141799998 meters 0.05486807529511586 Centerline is valid? [True, True] Translation: X:250.34, Y:9.54, Z:-1.54 [[ 9.99817571e-01 -1.90608244e-02 -1.22851486e-03 2.50337621e+02] [ 1.90608537e-02 9.99818325e-01 1.21267346e-05 9.54389929e+00] [ 1.22806053e-03 -3.55410643e-05 9.99999245e-01 -1.54487420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44439141799998 meters 0.055682618928609956 Centerline is valid? [True, True] Translation: X:250.40, Y:9.54, Z:-1.55 [[ 9.99827867e-01 -1.85412051e-02 -6.78289578e-04 2.50398357e+02] [ 1.85412141e-02 9.99828097e-01 6.94456264e-06 9.53764829e+00] [ 6.78044217e-04 -1.95196795e-05 9.99999770e-01 -1.54548058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50439141799998 meters 0.05568410146431632 Centerline is valid? [True, True] Translation: X:250.46, Y:9.54, Z:-1.54 [[ 9.99893917e-01 -1.45655314e-02 -2.69476486e-06 2.50458558e+02] [ 1.45655314e-02 9.99893917e-01 4.39280625e-08 9.54074866e+00] [ 2.69383905e-06 -8.31740797e-08 1.00000000e+00 -1.54406577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56439141799999 meters 0.054153347650779955 Centerline is valid? [True, True] Translation: X:250.52, Y:9.55, Z:-1.54 [[ 9.99969782e-01 -7.74435751e-03 -6.78524427e-04 2.50518983e+02] [ 7.74436379e-03 9.99970012e-01 6.63467012e-06 9.54566392e+00] [ 6.78452698e-04 -1.18892096e-05 9.99999770e-01 -1.54412403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141799996 meters 0.05503650861487262 Centerline is valid? [True, True] Translation: X:250.58, Y:9.54, Z:-1.55 [[ 9.99994652e-01 -3.05398786e-03 -1.17040218e-03 2.50578555e+02] [ 3.05400328e-03 9.99995336e-01 1.13877655e-05 9.54366356e+00] [ 1.17036194e-03 -1.49621167e-05 9.99999315e-01 -1.54637074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68439141799996 meters 0.055269656501048384 Centerline is valid? [True, True] Translation: X:250.64, Y:9.55, Z:-1.54 [[ 9.99989512e-01 4.31437407e-03 -1.53694460e-03 2.50638974e+02] [-4.31435599e-03 9.99990693e-01 1.50770658e-05 9.54871068e+00] [ 1.53699534e-03 -8.44598159e-06 9.99998819e-01 -1.54484615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74439141799996 meters 0.055038812233912465 Centerline is valid? [True, True] Translation: X:250.70, Y:9.55, Z:-1.55 [[ 9.99981793e-01 5.72947879e-03 -1.89383210e-03 2.50697226e+02] [-5.72945461e-03 9.99983586e-01 1.81927446e-05 9.54757437e+00] [ 1.89390525e-03 -7.34178833e-06 9.99998207e-01 -1.54688497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80439141799997 meters 0.055591574133553 Centerline is valid? [True, True] Translation: X:250.76, Y:9.55, Z:-1.55 [[ 9.99966752e-01 7.80914029e-03 -2.34766722e-03 2.50755009e+02] [-7.80911073e-03 9.99969508e-01 2.17571880e-05 9.54723056e+00] [ 2.34776554e-03 -3.42327134e-06 9.99997244e-01 -1.54671981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86439141799997 meters 0.05550567713879596 Centerline is valid? [True, True] Translation: X:250.81, Y:9.54, Z:-1.55 [[ 9.99975790e-01 6.30066447e-03 -2.95310017e-03 2.50813641e+02] [-6.30060907e-03 9.99980151e-01 2.80627655e-05 9.54374801e+00] [ 2.95321837e-03 -9.45575641e-06 9.99995639e-01 -1.54702074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92439141799997 meters 0.05559748551843065 Centerline is valid? [True, True] Translation: X:250.87, Y:9.54, Z:-1.55 [[ 9.99991342e-01 3.18703403e-03 -2.67553479e-03 2.50870948e+02] [-3.18697809e-03 9.99994921e-01 2.51715027e-05 9.53934996e+00] [ 2.67560142e-03 -1.66444141e-05 9.99996420e-01 -1.54854895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98439141799997 meters 0.05489864277064149 Centerline is valid? [True, True] Translation: X:250.93, Y:9.53, Z:-1.55 [[ 9.99997874e-01 -1.14771675e-03 -1.71320211e-03 2.50929786e+02] [ 1.14774606e-03 9.99999341e-01 1.61210855e-05 9.53385967e+00] [ 1.71318248e-03 -1.80873722e-05 9.99998532e-01 -1.54907408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04439141799998 meters 0.054680923518905744 Centerline is valid? [True, True] Translation: X:250.99, Y:9.53, Z:-1.55 [[ 9.99963710e-01 -8.50936662e-03 4.12457175e-04 2.50990028e+02] [ 8.50936897e-03 9.99963795e-01 -3.96463937e-06 9.52908296e+00] [-4.12408505e-04 7.47424578e-06 9.99999915e-01 -1.54740768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10439141799998 meters 0.05484470560257414 Centerline is valid? [True, True] Translation: X:251.05, Y:9.52, Z:-1.55 [[ 9.99884082e-01 -1.52173366e-02 5.05080601e-04 2.51050207e+02] [ 1.52173409e-02 9.99884210e-01 -4.78820594e-06 9.52397970e+00] [-5.04949254e-04 1.24736346e-05 9.99999872e-01 -1.54851114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16439141799998 meters 0.055046536473334726 Centerline is valid? [True, True] Translation: X:251.11, Y:9.52, Z:-1.55 [[ 9.99769995e-01 -2.14415320e-02 4.66584262e-04 2.51110745e+02] [ 2.14415364e-02 9.99770104e-01 -4.40039269e-06 9.51940796e+00] [-4.66382645e-04 1.44036640e-05 9.99999891e-01 -1.54848493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22439141799998 meters 0.05498841484881902 Centerline is valid? [True, True] Translation: X:251.17, Y:9.52, Z:-1.55 [[ 9.99686622e-01 -2.50137266e-02 9.85509176e-04 2.51171494e+02] [ 2.50137480e-02 9.99687107e-01 -9.34546797e-06 9.52032482e+00] [-9.84967052e-04 3.39938175e-05 9.99999514e-01 -1.54813819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28439141799998 meters 0.055402656644839586 Centerline is valid? [True, True] Translation: X:251.23, Y:9.51, Z:-1.55 [[ 9.99614879e-01 -2.77351007e-02 9.26258173e-04 2.51231209e+02] [ 2.77351207e-02 9.99615308e-01 -8.79530950e-06 9.51356848e+00] [-9.25657910e-04 3.44818045e-05 9.99999571e-01 -1.54884541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344391418 meters 0.0561866617491118 Centerline is valid? [True, True] Translation: X:251.29, Y:9.51, Z:-1.55 [[ 9.99612816e-01 -2.78247047e-02 -5.98768017e-05 2.51292250e+02] [ 2.78247048e-02 9.99612818e-01 7.10715727e-07 9.50942750e+00] [ 5.98338429e-05 -2.37649488e-06 9.99999998e-01 -1.54992378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40439141799996 meters 0.0553461882607336 Centerline is valid? [True, True] Translation: X:251.35, Y:9.51, Z:-1.55 [[ 9.99642448e-01 -2.67389786e-02 -4.96881995e-05 2.51354243e+02] [ 2.67389787e-02 9.99642450e-01 6.55094144e-07 9.51449506e+00] [ 4.96529168e-05 -1.98347162e-06 9.99999999e-01 -1.55063342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46439141799996 meters 0.05856674090560972 Centerline is valid? [True, True] Translation: X:251.41, Y:9.50, Z:-1.55 [[ 9.99725140e-01 -2.34125747e-02 -1.22343391e-03 2.51413538e+02] [ 2.34126064e-02 9.99725887e-01 1.16227382e-05 9.50089668e+00] [ 1.22282643e-03 -4.02633202e-05 9.99999252e-01 -1.55396450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52439141799996 meters 0.05840535759988101 Centerline is valid? [True, True] Translation: X:251.47, Y:9.50, Z:-1.55 [[ 9.99789704e-01 -2.04799259e-02 -1.05835217e-03 2.51474252e+02] [ 2.04799482e-02 9.99790264e-01 1.01689257e-05 9.50076223e+00] [ 1.05792194e-03 -3.18417848e-05 9.99999440e-01 -1.55423555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58439141799997 meters 0.054182022933566894 Centerline is valid? [True, True] Translation: X:251.54, Y:9.52, Z:-1.55 [[ 9.99853440e-01 -1.71188927e-02 2.05951199e-04 2.51535454e+02] [ 1.71188934e-02 9.99853461e-01 -1.91852023e-06 9.52291030e+00] [-2.05888177e-04 5.44389569e-06 9.99999979e-01 -1.54965415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64439141799997 meters 0.05431203203661174 Centerline is valid? [True, True] Translation: X:251.60, Y:9.52, Z:-1.55 [[ 9.99875886e-01 -1.57543029e-02 -1.19268451e-04 2.51597395e+02] [ 1.57543032e-02 9.99875893e-01 1.33769148e-06 9.52447330e+00] [ 1.19232575e-04 -3.21651679e-06 9.99999993e-01 -1.55017902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70439141799997 meters 0.055111794065006776 Centerline is valid? [True, True] Translation: X:251.66, Y:9.53, Z:-1.55 [[ 9.99878409e-01 -1.55338147e-02 -1.36671159e-03 2.51659941e+02] [ 1.55338475e-02 9.99879342e-01 1.33473851e-05 9.52521865e+00] [ 1.36633935e-03 -3.45760516e-05 9.99999066e-01 -1.55038495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76439141799997 meters 0.05537574494048464 Centerline is valid? [True, True] Translation: X:251.72, Y:9.52, Z:-1.55 [[ 9.99887807e-01 -1.48528283e-02 -1.94070587e-03 2.51721390e+02] [ 1.48528929e-02 9.99889690e-01 1.88681139e-05 9.51807666e+00] [ 1.94021155e-03 -4.76910935e-05 9.99998117e-01 -1.55291912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82439141799998 meters 0.05628798575113718 Centerline is valid? [True, True] Translation: X:251.78, Y:9.52, Z:-1.55 [[ 9.99907332e-01 -1.34998704e-02 -1.75516376e-03 2.51782584e+02] [ 1.34999211e-02 9.99908872e-01 1.70500373e-05 9.51775067e+00] [ 1.75477365e-03 -4.07430297e-05 9.99998460e-01 -1.55235709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88439141799998 meters 0.054802606287278614 Centerline is valid? [True, True] Translation: X:251.84, Y:9.53, Z:-1.55 [[ 9.99928879e-01 -1.18936042e-02 -8.82827716e-04 2.51844243e+02] [ 1.18936165e-02 9.99929268e-01 8.64232629e-06 9.52930953e+00] [ 8.82662483e-04 -1.91417259e-05 9.99999610e-01 -1.54929651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94439141799998 meters 0.055536704400143765 Centerline is valid? [True, True] Translation: X:251.91, Y:9.53, Z:-1.55 [[ 9.99940050e-01 -1.09319051e-02 -6.25172316e-04 2.51905487e+02] [ 1.09319111e-02 9.99940245e-01 6.21149291e-06 9.52784526e+00] [ 6.25067055e-04 -1.30454487e-05 9.99999805e-01 -1.55019183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00439141799998 meters 0.054872385335479223 Centerline is valid? [True, True] Translation: X:251.97, Y:9.53, Z:-1.55 [[ 9.99938950e-01 -1.10385730e-02 4.96641865e-04 2.51966943e+02] [ 1.10385767e-02 9.99939073e-01 -4.68778650e-06 9.52791944e+00] [-4.96559860e-04 1.01697196e-05 9.99999877e-01 -1.55020115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06439141799999 meters 0.05614416994097478 Centerline is valid? [True, True] Translation: X:252.03, Y:9.53, Z:-1.55 [[ 9.99923401e-01 -1.23632305e-02 5.85700290e-04 2.52029336e+02] [ 1.23632356e-02 9.99923572e-01 -5.15084288e-06 9.52683374e+00] [-5.85591845e-04 1.23915990e-05 9.99999828e-01 -1.55063660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141799996 meters 0.05502444588584937 Centerline is valid? [True, True] Translation: X:252.09, Y:9.53, Z:-1.55 [[ 9.99909534e-01 -1.34499543e-02 1.50822478e-04 2.52091887e+02] [ 1.34499546e-02 9.99909545e-01 -1.30583113e-06 9.52889736e+00] [-1.50791272e-04 3.33426850e-06 9.99999989e-01 -1.55066202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18439141799996 meters 0.0559183678950568 Centerline is valid? [True, True] Translation: X:252.15, Y:9.53, Z:-1.55 [[ 9.99905233e-01 -1.37328858e-02 -9.65394185e-04 2.52153933e+02] [ 1.37329016e-02 9.99905699e-01 9.77995418e-06 9.52755320e+00] [ 9.65168840e-04 -2.30366907e-05 9.99999534e-01 -1.55222302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24439141799996 meters 0.05607268236687118 Centerline is valid? [True, True] Translation: X:252.22, Y:9.53, Z:-1.55 [[ 9.99907682e-01 -1.34636610e-02 -1.83242134e-03 2.52216184e+02] [ 1.34637174e-02 9.99909360e-01 1.84438135e-05 9.52830203e+00] [ 1.83200693e-03 -4.31133138e-05 9.99998321e-01 -1.55472152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30439141799997 meters 0.05524144859438597 Centerline is valid? [True, True] Translation: X:252.28, Y:9.53, Z:-1.55 [[ 9.99927699e-01 -1.19256980e-02 -1.54070620e-03 2.52277791e+02] [ 1.19257359e-02 9.99928886e-01 1.54306245e-05 9.53268543e+00] [ 1.54041262e-03 -3.38035642e-05 9.99998813e-01 -1.55461438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36439141799997 meters 0.056016206340679255 Centerline is valid? [True, True] Translation: X:252.34, Y:9.54, Z:-1.55 [[ 9.99976347e-01 -6.83029635e-03 -8.07506556e-04 2.52338512e+02] [ 6.83030512e-03 9.99976673e-01 8.10880612e-06 9.53700272e+00] [ 8.07432334e-04 -1.36241305e-05 9.99999674e-01 -1.55467742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42439141799997 meters 0.055399342191527305 Centerline is valid? [True, True] Translation: X:252.40, Y:9.54, Z:-1.55 [[ 9.99999735e-01 4.24990904e-04 5.91507206e-04 2.52398011e+02] [-4.24987467e-04 9.99999910e-01 -5.93612014e-06 9.53980503e+00] [-5.91509675e-04 5.68473543e-06 9.99999825e-01 -1.55495600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48439141799997 meters 0.05511360707664025 Centerline is valid? [True, True] Translation: X:252.46, Y:9.54, Z:-1.55 [[ 9.99985655e-01 5.20929364e-03 1.24637328e-03 2.52458132e+02] [-5.20928223e-03 9.99986432e-01 -1.24064483e-05 9.54340294e+00] [-1.24642100e-03 5.91356015e-06 9.99999223e-01 -1.55418162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54439141799998 meters 0.055046411487935716 Centerline is valid? [True, True] Translation: X:252.52, Y:9.55, Z:-1.56 [[ 9.99938028e-01 1.10958235e-02 9.06809016e-04 2.52518072e+02] [-1.10958199e-02 9.99938439e-01 -9.10113751e-06 9.54664022e+00] [-9.06854178e-04 -9.61215984e-07 9.99999589e-01 -1.55504851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60439141799998 meters 0.05564107337433911 Centerline is valid? [True, True] Translation: X:252.58, Y:9.55, Z:-1.55 [[ 9.99908674e-01 1.35115015e-02 -2.88148821e-04 2.52576915e+02] [-1.35115014e-02 9.99908716e-01 2.20853205e-06 9.54572542e+00] [ 2.88152358e-04 1.68499285e-06 9.99999958e-01 -1.55344114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66439141799998 meters 0.055340352251290074 Centerline is valid? [True, True] Translation: X:252.64, Y:9.55, Z:-1.56 [[ 9.99888784e-01 1.48904902e-02 -8.32953047e-04 2.52635157e+02] [-1.48904891e-02 9.99889131e-01 7.47848734e-06 9.54649169e+00] [ 8.32972056e-04 4.92542270e-06 9.99999653e-01 -1.55646468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72439141799998 meters 0.0559542822558418 Centerline is valid? [True, True] Translation: X:252.69, Y:9.55, Z:-1.56 [[ 9.99879095e-01 1.55408316e-02 -5.28117573e-04 2.52693433e+02] [-1.55408312e-02 9.99879234e-01 4.89570573e-06 9.54548253e+00] [ 5.28129877e-04 3.31227223e-06 9.99999861e-01 -1.55682073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78439141799998 meters 0.055881430421433315 Centerline is valid? [True, True] Translation: X:252.75, Y:9.54, Z:-1.56 [[ 9.99880202e-01 1.54747305e-02 3.38577429e-04 2.52752281e+02] [-1.54747303e-02 9.99880259e-01 -3.42574466e-06 9.54207640e+00] [-3.38589900e-04 -1.81406011e-06 9.99999943e-01 -1.55559635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844391418 meters 0.05561891067724466 Centerline is valid? [True, True] Translation: X:252.81, Y:9.54, Z:-1.56 [[ 9.99878689e-01 1.55753732e-02 -1.21721407e-04 2.52809821e+02] [-1.55753732e-02 9.99878697e-01 9.18104687e-07 9.54033211e+00] [ 1.21720942e-04 9.77863042e-07 9.99999993e-01 -1.55742500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90439141799996 meters 0.05616027728466165 Centerline is valid? [True, True] Translation: X:252.87, Y:9.53, Z:-1.55 [[ 9.99888424e-01 1.49344047e-02 3.22137506e-04 2.52868833e+02] [-1.49344044e-02 9.99888476e-01 -3.27789296e-06 9.53270894e+00] [-3.22150533e-04 -1.53340456e-06 9.99999948e-01 -1.55379608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96439141799996 meters 0.05644431954030203 Centerline is valid? [True, True] Translation: X:252.93, Y:9.53, Z:-1.56 [[ 9.99905845e-01 1.36686495e-02 1.21232778e-03 2.52928092e+02] [-1.36686454e-02 9.99906580e-01 -1.17069502e-05 9.53036295e+00] [-1.21237454e-03 -4.86503067e-06 9.99999265e-01 -1.55635117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02439141799996 meters 0.05595277420031235 Centerline is valid? [True, True] Translation: X:252.99, Y:9.52, Z:-1.55 [[ 9.99942397e-01 1.05235917e-02 2.11122081e-03 2.52986706e+02] [-1.05235722e-02 9.99944625e-01 -2.03566215e-05 9.52145728e+00] [-2.11131813e-03 -1.86213579e-06 9.99997771e-01 -1.55355597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08439141799997 meters 0.05585225153909486 Centerline is valid? [True, True] Translation: X:253.04, Y:9.51, Z:-1.56 [[ 9.99969716e-01 7.50581894e-03 2.05654192e-03 2.53044061e+02] [-7.50579417e-03 9.99971831e-01 -1.97633042e-05 9.51321862e+00] [-2.05663233e-03 4.32672533e-06 9.99997885e-01 -1.55511567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14439141799997 meters 0.05648387036343652 Centerline is valid? [True, True] Translation: X:253.10, Y:9.51, Z:-1.56 [[ 9.99976875e-01 6.37604478e-03 2.36545233e-03 2.53103349e+02] [-6.37600925e-03 9.99979673e-01 -2.25648308e-05 9.50612135e+00] [-2.36554812e-03 7.48216313e-06 9.99997202e-01 -1.55508158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20439141799997 meters 0.0565858360720307 Centerline is valid? [True, True] Translation: X:253.16, Y:9.50, Z:-1.56 [[ 9.99974896e-01 7.04518369e-03 7.56625917e-04 2.53162895e+02] [-7.04518024e-03 9.99975182e-01 -7.22908394e-06 9.50082575e+00] [-7.56658070e-04 1.89833651e-06 9.99999714e-01 -1.55720120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26439141799997 meters 0.05623471460876222 Centerline is valid? [True, True] Translation: X:253.22, Y:9.50, Z:-1.56 [[ 9.99962033e-01 8.70705864e-03 -3.47443953e-04 2.53221631e+02] [-8.70705826e-03 9.99962093e-01 2.60614578e-06 9.49634118e+00] [ 3.47453474e-04 4.19167914e-07 9.99999940e-01 -1.55636138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32439141799998 meters 0.05674997824541797 Centerline is valid? [True, True] Translation: X:253.28, Y:9.49, Z:-1.56 [[ 9.99937341e-01 1.11926788e-02 1.92576403e-04 2.53279993e+02] [-1.11926785e-02 9.99937360e-01 -2.59017169e-06 9.49122588e+00] [-1.92593331e-04 4.34563647e-07 9.99999981e-01 -1.55555162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38439141799998 meters 0.056933228492315455 Centerline is valid? [True, True] Translation: X:253.34, Y:9.49, Z:-1.56 [[ 9.99917412e-01 1.28160766e-02 9.58203124e-04 2.53338285e+02] [-1.28160733e-02 9.99917871e-01 -9.54120065e-06 9.48777954e+00] [-9.58246709e-04 -2.73998884e-06 9.99999541e-01 -1.55512308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44439141799998 meters 0.056768887249989984 Centerline is valid? [True, True] Translation: X:253.40, Y:9.48, Z:-1.56 [[ 9.99922247e-01 1.24693251e-02 -1.25536984e-04 2.53395942e+02] [-1.24693251e-02 9.99922255e-01 8.85212398e-07 9.47882869e+00] [ 1.25538263e-04 6.80217910e-07 9.99999992e-01 -1.55642264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50439141799998 meters 0.056437508474236696 Centerline is valid? [True, True] Translation: X:253.45, Y:9.47, Z:-1.56 [[ 9.99960180e-01 8.92179023e-03 -2.00129675e-04 2.53454544e+02] [-8.92179009e-03 9.99960200e-01 1.60703099e-06 9.47178441e+00] [ 2.00136048e-04 1.78547957e-07 9.99999980e-01 -1.55710111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56439141799999 meters 0.055952873967364126 Centerline is valid? [True, True] Translation: X:253.51, Y:9.46, Z:-1.56 [[ 9.99998722e-01 8.77484638e-04 -1.33611574e-03 2.53512456e+02] [-8.77469413e-04 9.99999615e-01 1.19806937e-05 9.45815725e+00] [ 1.33612573e-03 -1.08082777e-05 9.99999107e-01 -1.55953102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141799996 meters 0.05695560356832695 Centerline is valid? [True, True] Translation: X:253.57, Y:9.45, Z:-1.56 [[ 9.99960745e-01 -8.83616761e-03 -6.55909512e-04 2.53572978e+02] [ 8.83617342e-03 9.99960960e-01 5.96049167e-06 9.44795103e+00] [ 6.55831237e-04 -1.17559879e-05 9.99999785e-01 -1.55749534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68439141799996 meters 0.05684118258420733 Centerline is valid? [True, True] Translation: X:253.63, Y:9.44, Z:-1.56 [[ 9.99897175e-01 -1.43378613e-02 -2.53577333e-04 2.53634006e+02] [ 1.43378624e-02 9.99897208e-01 2.31131838e-06 9.44401392e+00] [ 2.53518127e-04 -5.94683762e-06 9.99999968e-01 -1.55685097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74439141799996 meters 0.058404492356857685 Centerline is valid? [True, True] Translation: X:253.69, Y:9.43, Z:-1.56 [[ 9.99794978e-01 -2.02462753e-02 -3.02138680e-04 2.53693817e+02] [ 2.02462771e-02 9.99795023e-01 2.74570302e-06 9.43163727e+00] [ 3.02021159e-04 -8.86232353e-06 9.99999954e-01 -1.55814409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80439141799997 meters 0.05955729643216601 Centerline is valid? [True, True] Translation: X:253.75, Y:9.42, Z:-1.56 [[ 9.99692419e-01 -2.47939536e-02 -5.72824101e-04 2.53752977e+02] [ 2.47939606e-02 9.99692583e-01 5.13249619e-06 9.42245858e+00] [ 5.72520750e-04 -1.93334957e-05 9.99999836e-01 -1.55862470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86439141799997 meters 0.05712503377189362 Centerline is valid? [True, True] Translation: X:253.81, Y:9.43, Z:-1.56 [[ 9.99596990e-01 -2.83869471e-02 -1.98284226e-04 2.53814077e+02] [ 2.83869480e-02 9.99597009e-01 1.79918756e-06 9.43202482e+00] [ 1.98153246e-04 -7.42714648e-06 9.99999980e-01 -1.55690267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92439141799997 meters 0.061223479141234514 Centerline is valid? [True, True] Translation: X:253.87, Y:9.41, Z:-1.56 [[ 9.99429966e-01 -3.37421209e-02 -1.10142245e-03 2.53873430e+02] [ 3.37421522e-02 9.99430571e-01 9.88629644e-06 9.41107336e+00] [ 1.10046168e-03 -4.70450249e-05 9.99999393e-01 -1.55988744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98439141799997 meters 0.06151674955829386 Centerline is valid? [True, True] Translation: X:253.93, Y:9.41, Z:-1.56 [[ 9.99217752e-01 -3.95047820e-02 -1.80436186e-03 2.53933847e+02] [ 3.95048756e-02 9.99219378e-01 1.62768694e-05 9.40702616e+00] [ 1.80231032e-03 -8.75452277e-05 9.99998372e-01 -1.56126137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04439141799998 meters 0.05640614393537086 Centerline is valid? [True, True] Translation: X:254.00, Y:9.43, Z:-1.56 [[ 9.99016005e-01 -4.43380700e-02 -1.07595661e-03 2.53995177e+02] [ 4.43381062e-02 9.99016583e-01 9.83704601e-06 9.43024361e+00] [ 1.07446234e-03 -5.75332448e-05 9.99999421e-01 -1.55858886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10439141799998 meters 0.05629791068227693 Centerline is valid? [True, True] Translation: X:254.06, Y:9.43, Z:-1.56 [[ 9.99035885e-01 -4.38935568e-02 -8.10495227e-04 2.54056880e+02] [ 4.38935773e-02 9.99036212e-01 7.55824646e-06 9.42960619e+00] [ 8.09382324e-04 -4.31264944e-05 9.99999672e-01 -1.55977654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16439141799998 meters 0.05652221543231625 Centerline is valid? [True, True] Translation: X:254.12, Y:9.43, Z:-1.56 [[ 9.99274340e-01 -3.80885386e-02 2.37604401e-04 2.54116351e+02] [ 3.80885402e-02 9.99274368e-01 -2.20803405e-06 9.42920526e+00] [-2.37347887e-04 1.12564366e-05 9.99999972e-01 -1.56065677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22439141799998 meters 0.05669489458529765 Centerline is valid? [True, True] Translation: X:254.18, Y:9.44, Z:-1.56 [[ 9.99635368e-01 -2.69285657e-02 1.99582188e-03 2.54177057e+02] [ 2.69286554e-02 9.99637358e-01 -1.80897004e-05 9.44125352e+00] [-1.99461098e-03 7.18279039e-05 9.99998008e-01 -1.56003286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28439141799998 meters 0.056960266694457515 Centerline is valid? [True, True] Translation: X:254.24, Y:9.44, Z:-1.56 [[ 9.99847549e-01 -1.71532411e-02 3.26267470e-03 2.54236600e+02] [ 1.71534289e-02 9.99852869e-01 -2.95793485e-05 9.44233796e+00] [-3.26168728e-03 8.55408975e-05 9.99994677e-01 -1.56031001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344391418 meters 0.05695902824053054 Centerline is valid? [True, True] Translation: X:254.30, Y:9.45, Z:-1.56 [[ 9.99967895e-01 -6.65127695e-03 4.46875685e-03 2.54295933e+02] [ 6.65152432e-03 9.99977878e-01 -4.04957610e-05 9.44708514e+00] [-4.46838865e-03 7.02185057e-05 9.99990014e-01 -1.56067698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40439141799996 meters 0.056461095558062266 Centerline is valid? [True, True] Translation: X:254.36, Y:9.46, Z:-1.56 [[ 9.99944993e-01 9.36271787e-03 4.72762553e-03 2.54357040e+02] [-9.36261983e-03 9.99956169e-01 -4.28684083e-05 9.45987230e+00] [-4.72781968e-03 -1.39691032e-06 9.99988824e-01 -1.56098860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46439141799996 meters 0.05713337195578083 Centerline is valid? [True, True] Translation: X:254.42, Y:9.46, Z:-1.56 [[ 9.99818180e-01 1.86460020e-02 3.99159823e-03 2.54416660e+02] [-1.86460058e-02 9.99826147e-01 -3.62718505e-05 9.46344489e+00] [-3.99158061e-03 -3.81621080e-05 9.99992033e-01 -1.56113506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52439141799996 meters 0.05791960024516847 Centerline is valid? [True, True] Translation: X:254.48, Y:9.47, Z:-1.56 [[ 9.99587934e-01 2.84639154e-02 3.71061754e-03 2.54476019e+02] [-2.84639864e-02 9.99594818e-01 -3.36874622e-05 9.46712379e+00] [-3.71007294e-03 -7.19453863e-05 9.99993115e-01 -1.56088379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58439141799997 meters 0.05834897697497378 Centerline is valid? [True, True] Translation: X:254.53, Y:9.47, Z:-1.56 [[ 9.99585231e-01 2.85032551e-02 4.11477317e-03 2.54533854e+02] [-2.85033423e-02 9.99593697e-01 -3.74594743e-05 9.47075560e+00] [-4.11416904e-03 -7.98408509e-05 9.99991534e-01 -1.56212775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64439141799997 meters 0.05727539572147351 Centerline is valid? [True, True] Translation: X:254.59, Y:9.46, Z:-1.56 [[ 9.99708173e-01 2.38633166e-02 3.75647951e-03 2.54594117e+02] [-2.38633580e-02 9.99715229e-01 -3.38069360e-05 9.45994511e+00] [-3.75621652e-03 -5.58451453e-05 9.99992944e-01 -1.56182866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70439141799997 meters 0.05705503118661565 Centerline is valid? [True, True] Translation: X:254.65, Y:9.46, Z:-1.56 [[ 9.99904616e-01 1.29704448e-02 4.74630441e-03 2.54652890e+02] [-1.29703888e-02 9.99915880e-01 -4.25724413e-05 9.45646486e+00] [-4.74645733e-03 -1.89930330e-05 9.99988735e-01 -1.56368724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76439141799997 meters 0.05684951442953811 Centerline is valid? [True, True] Translation: X:254.71, Y:9.45, Z:-1.56 [[ 9.99980497e-01 2.60124829e-03 5.67798726e-03 2.54713380e+02] [-2.60100139e-03 9.99996616e-01 -5.08679014e-05 9.44677698e+00] [-5.67810036e-03 3.60984566e-05 9.99983879e-01 -1.56324302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82439141799998 meters 0.05782678544913076 Centerline is valid? [True, True] Translation: X:254.77, Y:9.43, Z:-1.56 [[ 9.99877591e-01 -1.46683200e-02 5.44453059e-03 2.54772846e+02] [ 1.46688029e-02 9.99892406e-01 -4.87723610e-05 9.43063584e+00] [-5.44322939e-03 1.28631137e-04 9.99985177e-01 -1.56307280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88439141799998 meters 0.058066747689009476 Centerline is valid? [True, True] Translation: X:254.83, Y:9.42, Z:-1.56 [[ 9.99489926e-01 -3.14019317e-02 5.81431127e-03 2.54833343e+02] [ 3.14027654e-02 9.99506810e-01 -5.21280358e-05 9.42267675e+00] [-5.80980679e-03 2.34686899e-04 9.99983095e-01 -1.56349236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94439141799998 meters 0.05753329861105694 Centerline is valid? [True, True] Translation: X:254.89, Y:9.41, Z:-1.56 [[ 9.99061092e-01 -4.28070917e-02 6.66982299e-03 2.54893806e+02] [ 4.28084429e-02 9.99083297e-01 -5.98810529e-05 9.41461306e+00] [-6.66114541e-03 3.45349567e-04 9.99977755e-01 -1.56340288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00439141799998 meters 0.05909932549020322 Centerline is valid? [True, True] Translation: X:254.95, Y:9.41, Z:-1.56 [[ 9.98895881e-01 -4.65830182e-02 6.08616324e-03 2.54953919e+02] [ 4.65842132e-02 9.98914365e-01 -5.46576496e-05 9.40702870e+00] [-6.07700977e-03 3.38116427e-04 9.99981478e-01 -1.56264634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06439141799999 meters 0.05834640237956619 Centerline is valid? [True, True] Translation: X:255.01, Y:9.41, Z:-1.56 [[ 9.98844847e-01 -4.77497609e-02 5.37889898e-03 2.55014780e+02] [ 4.77507113e-02 9.98859283e-01 -4.83267829e-05 9.40516876e+00] [-5.37045559e-03 3.05117210e-04 9.99985532e-01 -1.56388621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141799996 meters 0.05839730381820446 Centerline is valid? [True, True] Translation: X:255.07, Y:9.40, Z:-1.56 [[ 9.98969602e-01 -4.52499834e-02 3.48894257e-03 2.55074098e+02] [ 4.52503683e-02 9.98975677e-01 -3.14276992e-05 9.40449561e+00] [-3.48394666e-03 1.89271252e-04 9.99993913e-01 -1.56447128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18439141799996 meters 0.059290331086480436 Centerline is valid? [True, True] Translation: X:255.13, Y:9.40, Z:-1.57 [[ 9.99069635e-01 -4.30402712e-02 2.72021635e-03 2.55134898e+02] [ 4.30404969e-02 9.99073328e-01 -2.44690677e-05 9.40486035e+00] [-2.71664245e-03 1.41525766e-04 9.99996300e-01 -1.56584702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24439141799996 meters 0.05892603100886732 Centerline is valid? [True, True] Translation: X:255.20, Y:9.41, Z:-1.57 [[ 9.99107467e-01 -4.22097303e-02 1.61497696e-03 2.55197536e+02] [ 4.22098085e-02 9.99108769e-01 -1.43523446e-05 9.40735950e+00] [-1.61293183e-03 8.25074028e-05 9.99998696e-01 -1.56611950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30439141799997 meters 0.056944439826933584 Centerline is valid? [True, True] Translation: X:255.26, Y:9.42, Z:-1.57 [[ 9.99167013e-01 -4.08049656e-02 4.83899902e-04 2.55259460e+02] [ 4.08049725e-02 9.99167130e-01 -4.23405873e-06 9.41859571e+00] [-4.83324106e-04 2.39760540e-05 9.99999883e-01 -1.56565660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36439141799997 meters 0.05627721467512534 Centerline is valid? [True, True] Translation: X:255.32, Y:9.42, Z:-1.56 [[ 9.99263409e-01 -3.83644748e-02 8.98177900e-04 2.55319748e+02] [ 3.83644975e-02 9.99263812e-01 -8.12153959e-06 9.42423167e+00] [-8.97205093e-04 4.25737012e-05 9.99999597e-01 -1.56461251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42439141799997 meters 0.05764994864070823 Centerline is valid? [True, True] Translation: X:255.38, Y:9.42, Z:-1.56 [[ 9.99414362e-01 -3.41573114e-02 2.05226750e-03 2.55379803e+02] [ 3.41574215e-02 9.99416465e-01 -1.85965421e-05 9.42055641e+00] [-2.05043472e-03 8.86858173e-05 9.99997894e-01 -1.56374492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48439141799997 meters 0.05869908977298451 Centerline is valid? [True, True] Translation: X:255.44, Y:9.42, Z:-1.56 [[ 9.99545661e-01 -3.00406396e-02 2.45592777e-03 2.55439583e+02] [ 3.00407848e-02 9.99548674e-01 -2.22337307e-05 9.41817436e+00] [-2.45415143e-03 9.60016267e-05 9.99996984e-01 -1.56391641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54439141799998 meters 0.05717001187584644 Centerline is valid? [True, True] Translation: X:255.50, Y:9.43, Z:-1.56 [[ 9.99746761e-01 -2.22071627e-02 3.64096453e-03 2.55500256e+02] [ 2.22074299e-02 9.99753384e-01 -3.29959903e-05 9.43127477e+00] [-3.63933386e-03 1.13844099e-04 9.99993371e-01 -1.56348455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60439141799998 meters 0.0566269225660742 Centerline is valid? [True, True] Translation: X:255.56, Y:9.44, Z:-1.56 [[ 9.99913069e-01 -1.25194452e-02 4.13743377e-03 2.55561365e+02] [ 1.25197075e-02 9.99921625e-01 -3.75002994e-05 9.43860289e+00] [-4.13664002e-03 8.92965000e-05 9.99991440e-01 -1.56385335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66439141799998 meters 0.05699555256426126 Centerline is valid? [True, True] Translation: X:255.62, Y:9.44, Z:-1.56 [[ 9.99979754e-01 -5.78339835e-03 2.65403281e-03 2.55621167e+02] [ 5.78348261e-03 9.99983275e-01 -2.40765838e-05 9.44229095e+00] [-2.65384918e-03 3.94256490e-05 9.99996478e-01 -1.56427269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72439141799998 meters 0.05808790319545851 Centerline is valid? [True, True] Translation: X:255.68, Y:9.45, Z:-1.56 [[ 9.99980367e-01 5.48264503e-03 3.03421932e-03 2.55681788e+02] [-5.48258685e-03 9.99984970e-01 -2.74931237e-05 9.44649647e+00] [-3.03432445e-03 1.08572130e-05 9.99995396e-01 -1.56454920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78439141799998 meters 0.0572948028611176 Centerline is valid? [True, True] Translation: X:255.74, Y:9.45, Z:-1.56 [[ 9.99950367e-01 9.64011628e-03 2.51631798e-03 2.55740867e+02] [-9.64008945e-03 9.99953533e-01 -2.27904966e-05 9.44893562e+00] [-2.51642075e-03 -1.46816491e-06 9.99996834e-01 -1.56459175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844391418 meters 0.057593572490898165 Centerline is valid? [True, True] Translation: X:255.80, Y:9.45, Z:-1.57 [[ 9.99930904e-01 1.14195035e-02 2.78971980e-03 2.55799207e+02] [-1.14194764e-02 9.99934795e-01 -2.56456019e-05 9.44818392e+00] [-2.78983076e-03 -6.21330940e-06 9.99996108e-01 -1.56573333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90439141799996 meters 0.05784291296542684 Centerline is valid? [True, True] Translation: X:255.86, Y:9.44, Z:-1.57 [[ 9.99965198e-01 7.78005074e-03 3.01225088e-03 2.55857482e+02] [-7.78000458e-03 9.99969735e-01 -2.70418940e-05 9.44396840e+00] [-3.01237011e-03 3.60562723e-06 9.99995463e-01 -1.56519154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96439141799996 meters 0.05736711236314356 Centerline is valid? [True, True] Translation: X:255.92, Y:9.44, Z:-1.56 [[ 9.99993202e-01 2.57836502e-03 2.63610013e-03 2.55916962e+02] [-2.57831188e-03 9.99996676e-01 -2.35563697e-05 9.44123404e+00] [-2.63615211e-03 1.67595212e-05 9.99996525e-01 -1.56444502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters 0.05761191659364427 Centerline is valid? [True, True] Translation: X:255.98, Y:9.43, Z:-1.57 [[ 9.99967795e-01 -7.67256897e-03 2.35400819e-03 2.55976119e+02] [ 7.67263963e-03 9.99970565e-01 -2.09869236e-05 9.42586577e+00] [-2.35377788e-03 3.90477042e-05 9.99997229e-01 -1.56696278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters 0.05705639688290953 Centerline is valid? [True, True] Translation: X:256.04, Y:9.42, Z:-1.57 [[ 9.99819555e-01 -1.87661235e-02 2.94797773e-03 2.56037091e+02] [ 1.87662825e-02 9.99823897e-01 -2.62637405e-05 9.41956128e+00] [-2.94696571e-03 8.15815840e-05 9.99995654e-01 -1.56705838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters 0.05943865933517019 Centerline is valid? [True, True] Translation: X:256.10, Y:9.41, Z:-1.57 [[ 9.99625625e-01 -2.72127985e-02 2.84143328e-03 2.56096086e+02] [ 2.72129801e-02 9.99629658e-01 -2.52853325e-05 9.40738449e+00] [-2.83969290e-03 1.02599734e-04 9.99995963e-01 -1.56757866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters 0.05891049776287827 Centerline is valid? [True, True] Translation: X:256.16, Y:9.40, Z:-1.57 [[ 9.99537353e-01 -3.02230864e-02 3.41259841e-03 2.56156496e+02] [ 3.02233666e-02 9.99543169e-01 -3.05582904e-05 9.40419783e+00] [-3.41011586e-03 1.33684365e-04 9.99994177e-01 -1.56791448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26439141799995 meters 0.05847368413856553 Centerline is valid? [True, True] Translation: X:256.22, Y:9.41, Z:-1.57 [[ 9.99570723e-01 -2.91243656e-02 3.18442971e-03 2.56218026e+02] [ 2.91246039e-02 9.99575788e-01 -2.84787592e-05 9.40550265e+00] [-3.18224941e-03 1.21211788e-04 9.99994929e-01 -1.56756437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32439141799995 meters 0.05946713680302544 Centerline is valid? [True, True] Translation: X:256.28, Y:9.40, Z:-1.57 [[ 9.99646977e-01 -2.63479347e-02 3.42154053e-03 2.56277446e+02] [ 2.63481940e-02 9.99652826e-01 -3.07231674e-05 9.40228061e+00] [-3.41954317e-03 1.20863735e-04 9.99994146e-01 -1.56766756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38439141799995 meters 0.05765940580914072 Centerline is valid? [True, True] Translation: X:256.34, Y:9.41, Z:-1.57 [[ 9.99754259e-01 -2.17627064e-02 4.21985857e-03 2.56338171e+02] [ 2.17630597e-02 9.99763156e-01 -3.78178977e-05 9.40905775e+00] [-4.21803611e-03 1.29645638e-04 9.99991096e-01 -1.56788517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44439141799995 meters 0.05843585135132794 Centerline is valid? [True, True] Translation: X:256.40, Y:9.41, Z:-1.57 [[ 9.99848811e-01 -1.71091598e-02 3.10361877e-03 2.56398480e+02] [ 1.71093286e-02 9.99853624e-01 -2.78469030e-05 9.41065803e+00] [-3.10268804e-03 8.09435262e-05 9.99995183e-01 -1.56925701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50439141799995 meters 0.05772662325013935 Centerline is valid? [True, True] Translation: X:256.46, Y:9.41, Z:-1.57 [[ 9.99879541e-01 -1.53962260e-02 1.96452225e-03 2.56458995e+02] [ 1.53962903e-02 9.99881470e-01 -1.75973233e-05 9.40776973e+00] [-1.96401846e-03 4.78415583e-05 9.99998070e-01 -1.57016603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56439141799996 meters 0.05741098331721635 Centerline is valid? [True, True] Translation: X:256.52, Y:9.42, Z:-1.57 [[ 9.99941638e-01 -1.06429853e-02 1.85695674e-03 2.56520217e+02] [ 1.06430345e-02 9.99943361e-01 -1.66347856e-05 9.41647105e+00] [-1.85667452e-03 3.63974695e-05 9.99998276e-01 -1.56940842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62439141799996 meters 0.05759069448676738 Centerline is valid? [True, True] Translation: X:256.58, Y:9.42, Z:-1.57 [[ 9.99974513e-01 -6.51897263e-03 2.91148050e-03 2.56581322e+02] [ 6.51907628e-03 9.99978750e-01 -2.61101593e-05 9.41772186e+00] [-2.91124842e-03 4.50896572e-05 9.99995761e-01 -1.56969711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68439141799996 meters 0.0581093401655196 Centerline is valid? [True, True] Translation: X:256.64, Y:9.42, Z:-1.57 [[ 9.99983092e-01 -4.58679913e-03 3.57441246e-03 2.56642435e+02] [ 4.58694344e-03 9.99989479e-01 -3.21749812e-05 9.42017970e+00] [-3.57422727e-03 4.85700650e-05 9.99993611e-01 -1.56906284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74439141799996 meters 0.05738853531617978 Centerline is valid? [True, True] Translation: X:256.70, Y:9.42, Z:-1.57 [[ 9.99978673e-01 -5.07867882e-03 4.10604748e-03 2.56704198e+02] [ 5.07887378e-03 9.99987102e-01 -3.70542860e-05 9.42079433e+00] [-4.10580633e-03 5.79075927e-05 9.99991569e-01 -1.56903704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80439141799997 meters 0.057299913229255074 Centerline is valid? [True, True] Translation: X:256.77, Y:9.42, Z:-1.57 [[ 9.99947441e-01 -9.25799155e-03 4.40519318e-03 2.56765541e+02] [ 9.25825754e-03 9.99957141e-01 -3.99933667e-05 9.42173049e+00] [-4.40463412e-03 8.07756777e-05 9.99990296e-01 -1.56940524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86439141799997 meters 0.05829433670776597 Centerline is valid? [True, True] Translation: X:256.83, Y:9.41, Z:-1.57 [[ 9.99858187e-01 -1.64500191e-02 3.60583469e-03 2.56825190e+02] [ 1.64502444e-02 9.99864685e-01 -3.28361594e-05 9.41343873e+00] [-3.60480661e-03 9.21483647e-05 9.99993498e-01 -1.57077816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92439141799997 meters 0.05882009082509072 Centerline is valid? [True, True] Translation: X:256.89, Y:9.41, Z:-1.57 [[ 9.99673682e-01 -2.53334826e-02 3.27769515e-03 2.56885711e+02] [ 2.53337162e-02 9.99679049e-01 -2.97842159e-05 9.40983013e+00] [-3.27588863e-03 1.12810696e-04 9.99994628e-01 -1.57194640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.984391418 meters 0.05745803936749702 Centerline is valid? [True, True] Translation: X:256.95, Y:9.41, Z:-1.57 [[ 9.99424408e-01 -3.37250859e-02 3.67045672e-03 2.56946362e+02] [ 3.37254356e-02 9.99431135e-01 -3.34110902e-05 9.41469575e+00] [-3.66724194e-03 1.57179611e-04 9.99993263e-01 -1.57256920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters 0.05824913068601041 Centerline is valid? [True, True] Translation: X:257.01, Y:9.41, Z:-1.57 [[ 9.99266322e-01 -3.80881430e-02 4.01382360e-03 2.57005596e+02] [ 3.80885965e-02 9.99274365e-01 -3.65676853e-05 9.41239489e+00] [-4.00951823e-03 1.89421764e-04 9.99991944e-01 -1.57253499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters 0.05660023533061358 Centerline is valid? [True, True] Translation: X:257.07, Y:9.42, Z:-1.57 [[ 9.99046284e-01 -4.33795242e-02 4.97386657e-03 2.57066462e+02] [ 4.33802856e-02 9.99058631e-01 -4.52465828e-05 9.42484053e+00] [-4.96722155e-03 2.60971182e-04 9.99987629e-01 -1.57350723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters 0.05789888037735308 Centerline is valid? [True, True] Translation: X:257.13, Y:9.42, Z:-1.57 [[ 9.98946266e-01 -4.56678089e-02 4.56178320e-03 2.57125723e+02] [ 4.56684734e-02 9.98956650e-01 -4.15495396e-05 9.41809399e+00] [-4.55512618e-03 2.49835432e-04 9.99989594e-01 -1.57439898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters 0.055647557137689055 Centerline is valid? [True, True] Translation: X:257.19, Y:9.43, Z:-1.57 [[ 9.98905397e-01 -4.65840401e-02 4.23487217e-03 2.57188216e+02] [ 4.65846207e-02 9.98914347e-01 -3.85218041e-05 9.43016505e+00] [-4.22848006e-03 2.35759552e-04 9.99991032e-01 -1.57448332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters 0.056533677655832636 Centerline is valid? [True, True] Translation: X:257.25, Y:9.43, Z:-1.58 [[ 9.98864401e-01 -4.75643414e-02 2.74628522e-03 2.57248471e+02] [ 4.75645894e-02 9.98868164e-01 -2.50340724e-05 9.42569466e+00] [-2.74198614e-03 1.55631572e-04 9.99996229e-01 -1.57523695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters 0.0549658253811118 Centerline is valid? [True, True] Translation: X:257.31, Y:9.44, Z:-1.58 [[ 9.98886484e-01 -4.70962180e-02 2.78169292e-03 2.57311201e+02] [ 4.70964706e-02 9.98890345e-01 -2.53389198e-05 9.43792226e+00] [-2.77741283e-03 1.56318623e-04 9.99996131e-01 -1.57527820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters 0.056587821077022225 Centerline is valid? [True, True] Translation: X:257.37, Y:9.43, Z:-1.58 [[ 9.99088434e-01 -4.25770988e-02 3.08096453e-03 2.57370585e+02] [ 4.25773883e-02 9.99093171e-01 -2.84127069e-05 9.43388150e+00] [-3.07696090e-03 1.59566230e-04 9.99995253e-01 -1.57523520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters 0.05814554386478355 Centerline is valid? [True, True] Translation: X:257.43, Y:9.43, Z:-1.58 [[ 9.99420479e-01 -3.38654806e-02 3.44015620e-03 2.57430320e+02] [ 3.38657899e-02 9.99426389e-01 -3.16755188e-05 9.42900529e+00] [-3.43711018e-03 1.48160769e-04 9.99994082e-01 -1.57502660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters 0.05607506156709823 Centerline is valid? [True, True] Translation: X:257.49, Y:9.44, Z:-1.57 [[ 9.99629217e-01 -2.68545677e-02 4.50115835e-03 2.57490868e+02] [ 2.68550262e-02 9.99639338e-01 -4.14575292e-05 9.44228899e+00] [-4.49842163e-03 1.62320883e-04 9.99989869e-01 -1.57370508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters 0.05623368810131558 Centerline is valid? [True, True] Translation: X:257.55, Y:9.45, Z:-1.57 [[ 9.99867378e-01 -1.56154152e-02 4.62436223e-03 2.57550703e+02] [ 1.56157793e-02 9.99878065e-01 -4.26306553e-05 9.44663750e+00] [-4.62313266e-03 1.14838022e-04 9.99989307e-01 -1.57383052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters 0.05618539782216635 Centerline is valid? [True, True] Translation: X:257.61, Y:9.45, Z:-1.57 [[ 9.99973068e-01 -6.20113022e-03 3.92547065e-03 2.57611773e+02] [ 6.20132014e-03 9.99980771e-01 -3.62119081e-05 9.45319817e+00] [-3.92517062e-03 6.05540331e-05 9.99992295e-01 -1.57459034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters 0.056097619347579376 Centerline is valid? [True, True] Translation: X:257.67, Y:9.46, Z:-1.57 [[ 9.99994012e-01 -8.54547776e-04 3.35347017e-03 2.57673838e+02] [ 8.54656111e-04 9.99999634e-01 -3.08722874e-05 9.45965155e+00] [-3.35344257e-03 3.37381663e-05 9.99994377e-01 -1.57474033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76439141799995 meters 0.05609212145591395 Centerline is valid? [True, True] Translation: X:257.74, Y:9.46, Z:-1.58 [[ 9.99994360e-01 -1.34234980e-04 3.35601113e-03 2.57735050e+02] [ 1.34339596e-04 9.99999991e-01 -3.09470083e-05 9.46172627e+00] [-3.35600695e-03 3.13976790e-05 9.99994368e-01 -1.57517992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82439141799995 meters 0.05581887458705087 Centerline is valid? [True, True] Translation: X:257.80, Y:9.46, Z:-1.58 [[ 9.99988647e-01 -2.73277799e-03 3.90351882e-03 2.57795725e+02] [ 2.73293988e-03 9.99996265e-01 -3.61404547e-05 9.45862955e+00] [-3.90340548e-03 4.68081267e-05 9.99992381e-01 -1.57562924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88439141799995 meters 0.05624872869639274 Centerline is valid? [True, True] Translation: X:257.86, Y:9.46, Z:-1.57 [[ 9.99966779e-01 -6.07861930e-03 5.43065678e-03 2.57857511e+02] [ 6.07898242e-03 9.99981522e-01 -5.03612563e-05 9.45898731e+00] [-5.43025031e-03 8.33724503e-05 9.99985253e-01 -1.57482075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94439141799995 meters 0.0566164997799568 Centerline is valid? [True, True] Translation: X:257.92, Y:9.45, Z:-1.58 [[ 9.99883649e-01 -1.42611123e-02 5.41381070e-03 2.57916828e+02] [ 1.42615966e-02 9.99898297e-01 -5.08574237e-05 9.45395409e+00] [-5.41253482e-03 1.28061091e-04 9.99985344e-01 -1.57548055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00439141799995 meters 0.05627518208369944 Centerline is valid? [True, True] Translation: X:257.98, Y:9.45, Z:-1.58 [[ 9.99761675e-01 -2.12303325e-02 5.08597216e-03 2.57977966e+02] [ 2.12308498e-02 9.99774599e-01 -4.77260323e-05 9.45352450e+00] [-5.08381254e-03 1.55694169e-04 9.99987065e-01 -1.57658070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06439141799996 meters 0.057386313441359194 Centerline is valid? [True, True] Translation: X:258.04, Y:9.44, Z:-1.58 [[ 9.99489128e-01 -3.15768138e-02 4.93844794e-03 2.58037403e+02] [ 3.15774280e-02 9.99501308e-01 -4.64142766e-05 9.44086365e+00] [-4.93451956e-03 2.02334049e-04 9.99987805e-01 -1.57832657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12439141799996 meters 0.05564874971224531 Centerline is valid? [True, True] Translation: X:258.10, Y:9.44, Z:-1.58 [[ 9.99156333e-01 -4.06931572e-02 5.53979109e-03 2.58097990e+02] [ 4.06940701e-02 9.99171652e-01 -5.21199535e-05 9.44297070e+00] [-5.53308129e-03 2.77512628e-04 9.99984654e-01 -1.57902691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18439141799996 meters 0.056763413337191926 Centerline is valid? [True, True] Translation: X:258.16, Y:9.43, Z:-1.58 [[ 9.98989632e-01 -4.46195836e-02 5.36721412e-03 2.58157888e+02] [ 4.46204970e-02 9.99004008e-01 -5.04954383e-05 9.43496641e+00] [-5.35961534e-03 2.89932181e-04 9.99985595e-01 -1.58042614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24439141799996 meters 0.056591657530187245 Centerline is valid? [True, True] Translation: X:258.22, Y:9.43, Z:-1.58 [[ 9.99025103e-01 -4.37986867e-02 5.52444508e-03 2.58219757e+02] [ 4.37996420e-02 9.99040334e-01 -5.19992884e-05 9.43322648e+00] [-5.51686596e-03 2.93917312e-04 9.99984739e-01 -1.58132941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30439141799997 meters 0.057484594403352525 Centerline is valid? [True, True] Translation: X:258.28, Y:9.43, Z:-1.58 [[ 9.99294461e-01 -3.71735723e-02 5.35771185e-03 2.58278877e+02] [ 3.71743766e-02 9.99308793e-01 -5.05704280e-05 9.43458192e+00] [-5.35212867e-03 2.49704347e-04 9.99985646e-01 -1.58220490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36439141799997 meters 0.05558074287770627 Centerline is valid? [True, True] Translation: X:258.34, Y:9.44, Z:-1.58 [[ 9.99389448e-01 -3.44535444e-02 5.80385149e-03 2.58339521e+02] [ 3.44544419e-02 9.99406268e-01 -5.47002183e-05 9.44221427e+00] [-5.79852094e-03 2.54635285e-04 9.99983156e-01 -1.58219754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42439141799997 meters 0.056291968335887274 Centerline is valid? [True, True] Translation: X:258.40, Y:9.45, Z:-1.58 [[ 9.99662767e-01 -2.53954181e-02 5.42445482e-03 2.58399139e+02] [ 2.53960692e-02 9.99677467e-01 -5.11747511e-05 9.44509522e+00] [-5.42140564e-03 1.88917323e-04 9.99985286e-01 -1.58268401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.484391418 meters 0.055662721972352024 Centerline is valid? [True, True] Translation: X:258.46, Y:9.45, Z:-1.58 [[ 9.99833112e-01 -1.78277398e-02 3.99003037e-03 2.58459667e+02] [ 1.78280319e-02 9.99841067e-01 -3.76426763e-05 9.45282488e+00] [-3.98872514e-03 1.08770783e-04 9.99992039e-01 -1.58355511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters 0.05587079301792191 Centerline is valid? [True, True] Translation: X:258.52, Y:9.45, Z:-1.58 [[ 9.99927996e-01 -1.16699379e-02 2.79562024e-03 2.58519524e+02] [ 1.16700573e-02 9.99931902e-01 -2.64031547e-05 9.45431880e+00] [-2.79512174e-03 5.90263020e-05 9.99996092e-01 -1.58492520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters 0.05576616945417969 Centerline is valid? [True, True] Translation: X:258.58, Y:9.46, Z:-1.59 [[ 9.99958586e-01 -8.40184437e-03 3.49791846e-03 2.58581510e+02] [ 8.40201089e-03 9.99964702e-01 -3.29132290e-05 9.45829578e+00] [-3.49751846e-03 6.23014149e-05 9.99993882e-01 -1.58544632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters 0.05629156370298766 Centerline is valid? [True, True] Translation: X:258.64, Y:9.46, Z:-1.59 [[ 9.99973948e-01 -5.49437132e-03 4.68143046e-03 2.58642973e+02] [ 5.49463856e-03 9.99984903e-01 -4.42247789e-05 9.46049955e+00] [-4.68111680e-03 6.99463951e-05 9.99989041e-01 -1.58541705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters 0.05578553230107406 Centerline is valid? [True, True] Translation: X:258.70, Y:9.46, Z:-1.59 [[ 9.99969707e-01 -6.02725712e-03 4.92510191e-03 2.58704936e+02] [ 6.02755970e-03 9.99981833e-01 -4.65945994e-05 9.46086996e+00] [-4.92473160e-03 7.62795337e-05 9.99987871e-01 -1.58504123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters 0.056419833755458 Centerline is valid? [True, True] Translation: X:258.77, Y:9.45, Z:-1.58 [[ 9.99940546e-01 -9.46246240e-03 5.41911012e-03 2.58765175e+02] [ 9.46288031e-03 9.99955225e-01 -5.14812092e-05 9.45464242e+00] [-5.41838034e-03 1.02758539e-04 9.99985315e-01 -1.58483915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters 0.05798135740630035 Centerline is valid? [True, True] Translation: X:258.83, Y:9.44, Z:-1.59 [[ 9.99903167e-01 -1.31884244e-02 4.44098991e-03 2.58825134e+02] [ 1.31887418e-02 9.99913024e-01 -4.21820370e-05 9.44300295e+00] [-4.44004733e-03 1.00749022e-04 9.99990138e-01 -1.58583458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters 0.055409018643399435 Centerline is valid? [True, True] Translation: X:258.89, Y:9.46, Z:-1.59 [[ 9.99862932e-01 -1.56995185e-02 5.25766144e-03 2.58886458e+02] [ 1.56999991e-02 9.99876746e-01 -5.01337452e-05 9.45573312e+00] [-5.25622634e-03 1.32672153e-04 9.99986177e-01 -1.58601206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters 0.05766340790886135 Centerline is valid? [True, True] Translation: X:258.95, Y:9.45, Z:-1.59 [[ 9.99852081e-01 -1.65635866e-02 4.63285588e-03 2.58947245e+02] [ 1.65639694e-02 9.99862807e-01 -4.42721360e-05 9.44569534e+00] [-4.63148698e-03 1.21004071e-04 9.99989267e-01 -1.58656630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters 0.05598003249803617 Centerline is valid? [True, True] Translation: X:259.01, Y:9.46, Z:-1.59 [[ 9.99864024e-01 -1.60164048e-02 3.92542444e-03 2.59009482e+02] [ 1.60166756e-02 9.99871724e-01 -3.75695348e-05 9.45683074e+00] [-3.92431917e-03 1.00436676e-04 9.99992295e-01 -1.58621592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters 0.05566022390982556 Centerline is valid? [True, True] Translation: X:259.07, Y:9.46, Z:-1.59 [[ 9.99896100e-01 -1.41705615e-02 2.64265708e-03 2.59070291e+02] [ 1.41706780e-02 9.99899591e-01 -2.53695373e-05 9.45681373e+00] [-2.64203223e-03 6.28151440e-05 9.99996508e-01 -1.58607398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters 0.05526499688715989 Centerline is valid? [True, True] Translation: X:259.13, Y:9.46, Z:-1.59 [[ 9.99909671e-01 -1.31401554e-02 2.82610491e-03 2.59131773e+02] [ 1.31402846e-02 9.99913662e-01 -2.71579279e-05 9.45598628e+00] [-2.82550405e-03 6.42912977e-05 9.99996006e-01 -1.58568767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters 0.05616703491369359 Centerline is valid? [True, True] Translation: X:259.19, Y:9.45, Z:-1.59 [[ 9.99910237e-01 -1.30943995e-02 2.83801508e-03 2.59193789e+02] [ 1.30945297e-02 9.99914263e-01 -2.72910707e-05 9.45085575e+00] [-2.83741439e-03 6.44510937e-05 9.99995972e-01 -1.58695028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26439141799995 meters 0.05672759990900719 Centerline is valid? [True, True] Translation: X:259.25, Y:9.45, Z:-1.59 [[ 9.99874632e-01 -1.56149848e-02 2.62547254e-03 2.59254419e+02] [ 1.56151054e-02 9.99878077e-01 -2.54414485e-05 9.45050242e+00] [-2.62475516e-03 6.64352893e-05 9.99996553e-01 -1.58659478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32439141799995 meters 0.055342035219066874 Centerline is valid? [True, True] Translation: X:259.32, Y:9.46, Z:-1.59 [[ 9.99819066e-01 -1.88803527e-02 2.31668701e-03 2.59315155e+02] [ 1.88804554e-02 9.99821748e-01 -2.24588873e-05 9.45871539e+00] [-2.31585003e-03 6.61949295e-05 9.99997316e-01 -1.58536938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38439141799995 meters 0.05579487383909533 Centerline is valid? [True, True] Translation: X:259.38, Y:9.45, Z:-1.59 [[ 9.99687645e-01 -2.49453211e-02 1.53062184e-03 2.59375190e+02] [ 2.49453731e-02 9.99688816e-01 -1.48453369e-05 9.44883396e+00] [-1.52977521e-03 5.30226326e-05 9.99998828e-01 -1.58667523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44439141799995 meters 0.05565154478633586 Centerline is valid? [True, True] Translation: X:259.44, Y:9.45, Z:-1.59 [[ 9.99453347e-01 -3.30198086e-02 1.64280144e-03 2.59436095e+02] [ 3.30198793e-02 9.99454695e-01 -1.59504966e-05 9.45339519e+00] [-1.64137893e-03 7.01868827e-05 9.99998650e-01 -1.58622865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50439141799995 meters 0.05498158194306397 Centerline is valid? [True, True] Translation: X:259.50, Y:9.45, Z:-1.59 [[ 9.99276103e-01 -3.80026705e-02 1.75153064e-03 2.59496657e+02] [ 3.80027586e-02 9.99277634e-01 -1.70318319e-05 9.44895203e+00] [-1.74961814e-03 8.35824988e-05 9.99998466e-01 -1.58630902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56439141799996 meters 0.05456700067043815 Centerline is valid? [True, True] Translation: X:259.56, Y:9.45, Z:-1.59 [[ 9.99023773e-01 -4.40758320e-02 2.97022954e-03 2.59557300e+02] [ 4.40761121e-02 9.99028176e-01 -2.88766793e-05 9.45338563e+00] [-2.96607024e-03 1.59764659e-04 9.99995588e-01 -1.58569297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62439141799996 meters 0.056623715534991376 Centerline is valid? [True, True] Translation: X:259.62, Y:9.44, Z:-1.59 [[ 9.98901577e-01 -4.67176148e-02 3.61984786e-03 2.59616187e+02] [ 4.67180483e-02 9.98908115e-01 -3.52415015e-05 9.43738507e+00] [-3.61424900e-03 2.04315018e-04 9.99993448e-01 -1.58620676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68439141799996 meters 0.05533624226938585 Centerline is valid? [True, True] Translation: X:259.68, Y:9.44, Z:-1.59 [[ 9.98888312e-01 -4.69791323e-02 3.88613780e-03 2.59678838e+02] [ 4.69796328e-02 9.98895847e-01 -3.75657881e-05 9.44035993e+00] [-3.88008210e-03 2.20093354e-04 9.99992448e-01 -1.58604708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74439141799996 meters 0.055110065859395645 Centerline is valid? [True, True] Translation: X:259.74, Y:9.44, Z:-1.59 [[ 9.98973065e-01 -4.51108859e-02 4.22189053e-03 2.59739275e+02] [ 4.51114630e-02 9.98981959e-01 -4.15156114e-05 9.44142136e+00] [-4.21571966e-03 2.31928636e-04 9.99991087e-01 -1.58743338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80439141799997 meters 0.055108776706965484 Centerline is valid? [True, True] Translation: X:259.80, Y:9.44, Z:-1.59 [[ 9.99105552e-01 -4.22059699e-02 2.59841633e-03 2.59800067e+02] [ 4.22061787e-02 9.99108922e-01 -2.55512904e-05 9.44158687e+00] [-2.59502252e-03 1.35197660e-04 9.99996624e-01 -1.58831327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86439141799997 meters 0.05596701348409776 Centerline is valid? [True, True] Translation: X:259.86, Y:9.44, Z:-1.59 [[ 9.99402053e-01 -3.45502541e-02 1.34738386e-03 2.59859760e+02] [ 3.45503034e-02 9.99402960e-01 -1.32802896e-05 9.44233772e+00] [-1.34612058e-03 5.98248697e-05 9.99999092e-01 -1.58962296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92439141799997 meters 0.05693047935557296 Centerline is valid? [True, True] Translation: X:259.92, Y:9.44, Z:-1.59 [[ 9.99745103e-01 -2.25191277e-02 1.61829932e-03 2.59918999e+02] [ 2.25191829e-02 9.99746411e-01 -1.58961866e-05 9.43996831e+00] [-1.61753097e-03 5.23349130e-05 9.99998690e-01 -1.59033199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.984391418 meters 0.056171442692343636 Centerline is valid? [True, True] Translation: X:259.98, Y:9.45, Z:-1.59 [[ 9.99909226e-01 -1.30159079e-02 3.48222701e-03 2.59980176e+02] [ 1.30161061e-02 9.99915286e-01 -3.42646025e-05 9.44959412e+00] [-3.48148603e-03 7.95865285e-05 9.99993936e-01 -1.58957719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters 0.05536290855322965 Centerline is valid? [True, True] Translation: X:260.04, Y:9.46, Z:-1.59 [[ 9.99982913e-01 2.11309732e-03 5.45049087e-03 2.60040354e+02] [-2.11283723e-03 9.99997767e-01 -5.34760177e-05 9.45846846e+00] [-5.45059170e-03 4.19591039e-05 9.99985145e-01 -1.58838898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters 0.05574561500021875 Centerline is valid? [True, True] Translation: X:260.10, Y:9.47, Z:-1.59 [[ 9.99881094e-01 1.40699868e-02 6.31139239e-03 2.60101422e+02] [-1.40698764e-02 9.99901012e-01 -6.18863799e-05 9.46530148e+00] [-6.31163839e-03 -2.69214899e-05 9.99980081e-01 -1.58868810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters 0.05670375435038222 Centerline is valid? [True, True] Translation: X:260.16, Y:9.47, Z:-1.59 [[ 9.99741930e-01 2.19047746e-02 6.02114572e-03 2.60160411e+02] [-2.19048157e-02 9.99760059e-01 -5.91310184e-05 9.46645932e+00] [-6.02099626e-03 -7.27763288e-05 9.99981871e-01 -1.58994876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters 0.05602362899898064 Centerline is valid? [True, True] Translation: X:260.22, Y:9.46, Z:-1.59 [[ 9.99694481e-01 2.39760875e-02 6.00768805e-03 2.60217818e+02] [-2.39761667e-02 9.99712529e-01 -5.88516482e-05 9.46429695e+00] [-6.00737205e-03 -8.52076621e-05 9.99981952e-01 -1.59072083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters 0.05651673707670066 Centerline is valid? [True, True] Translation: X:260.28, Y:9.46, Z:-1.59 [[ 9.99688614e-01 2.41838491e-02 6.14952924e-03 2.60276810e+02] [-2.41839382e-02 9.99707524e-01 -5.98818192e-05 9.46206054e+00] [-6.14917883e-03 -8.88566622e-05 9.99981090e-01 -1.59114388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters 0.05586762877893265 Centerline is valid? [True, True] Translation: X:260.34, Y:9.46, Z:-1.59 [[ 9.99772623e-01 2.00391721e-02 7.28935900e-03 2.60335552e+02] [-2.00391889e-02 9.99799193e-01 -7.07457653e-05 9.45530761e+00] [-7.28931293e-03 -7.53431625e-05 9.99973430e-01 -1.59291780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters 0.055410459434663425 Centerline is valid? [True, True] Translation: X:260.39, Y:9.45, Z:-1.59 [[ 9.99915303e-01 1.12479258e-02 6.54761392e-03 2.60394636e+02] [-1.12477518e-02 9.99936740e-01 -6.34089503e-05 9.44768157e+00] [-6.54791293e-03 -1.02423562e-05 9.99978562e-01 -1.59416023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters 0.055441096717593834 Centerline is valid? [True, True] Translation: X:260.46, Y:9.44, Z:-1.60 [[ 9.99975898e-01 4.50473131e-04 6.92826734e-03 2.60455085e+02] [-4.50019449e-04 9.99999897e-01 -6.70415531e-05 9.43623155e+00] [-6.92829682e-03 6.39220822e-05 9.99975997e-01 -1.59531089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters 0.05650757103441864 Centerline is valid? [True, True] Translation: X:260.51, Y:9.42, Z:-1.60 [[ 9.99940427e-01 -8.20471772e-03 7.19892586e-03 2.60514922e+02] [ 8.20543173e-03 9.99966332e-01 -6.96527473e-05 9.41873889e+00] [-7.19811201e-03 1.28718893e-04 9.99974085e-01 -1.59517601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters 0.05595847192455567 Centerline is valid? [True, True] Translation: X:260.58, Y:9.42, Z:-1.60 [[ 9.99888817e-01 -1.28965853e-02 7.48538904e-03 2.60575690e+02] [ 1.28974885e-02 9.99916821e-01 -7.23947550e-05 9.41769087e+00] [-7.48383277e-03 1.68929425e-04 9.99971981e-01 -1.59636541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters 0.05550281641772997 Centerline is valid? [True, True] Translation: X:260.64, Y:9.41, Z:-1.60 [[ 9.99819701e-01 -1.74825908e-02 7.41106647e-03 2.60636176e+02] [ 1.74836024e-02 9.99847148e-01 -7.17265135e-05 9.41181793e+00] [-7.40867971e-03 2.01285721e-04 9.99972535e-01 -1.59824526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70439141799994 meters 0.05818807807302518 Centerline is valid? [True, True] Translation: X:260.70, Y:9.39, Z:-1.60 [[ 9.99818485e-01 -1.80053431e-02 6.22932207e-03 2.60697187e+02] [ 1.80060681e-02 9.99837876e-01 -6.03213243e-05 9.39036495e+00] [-6.22722604e-03 1.72475973e-04 9.99980596e-01 -1.59852507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76439141799995 meters 0.05824435518682188 Centerline is valid? [True, True] Translation: X:260.76, Y:9.39, Z:-1.60 [[ 9.99846391e-01 -1.63253713e-02 6.37784564e-03 2.60758485e+02] [ 1.63261013e-02 9.99866718e-01 -6.24114736e-05 9.38765328e+00] [-6.37597670e-03 1.66527241e-04 9.99979659e-01 -1.59917072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82439141799995 meters 0.05656511950738525 Centerline is valid? [True, True] Translation: X:260.82, Y:9.40, Z:-1.60 [[ 9.99890000e-01 -1.36459048e-02 5.81175548e-03 2.60820587e+02] [ 1.36464662e-02 9.99906881e-01 -5.69497112e-05 9.39589210e+00] [-5.81043716e-03 1.36253371e-04 9.99983110e-01 -1.59986578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88439141799995 meters 0.05669232243575114 Centerline is valid? [True, True] Translation: X:260.88, Y:9.39, Z:-1.60 [[ 9.99883217e-01 -1.38408080e-02 6.47957945e-03 2.60882247e+02] [ 1.38415111e-02 9.99904200e-01 -6.36650793e-05 9.39050793e+00] [-6.47807753e-03 1.53344815e-04 9.99979005e-01 -1.60048218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94439141799995 meters 0.05709983909848568 Centerline is valid? [True, True] Translation: X:260.94, Y:9.39, Z:-1.60 [[ 9.99835803e-01 -1.71514438e-02 5.84765289e-03 2.60943192e+02] [ 1.71520742e-02 9.99852891e-01 -5.76667586e-05 9.38540903e+00] [-5.84580358e-03 1.57956666e-04 9.99982901e-01 -1.60186497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00439141799995 meters 0.05573678659154686 Centerline is valid? [True, True] Translation: X:261.00, Y:9.39, Z:-1.60 [[ 9.99764484e-01 -2.10757232e-02 5.17592976e-03 2.61003957e+02] [ 2.10762698e-02 9.99777869e-01 -5.10823661e-05 9.39258509e+00] [-5.17370343e-03 1.60159628e-04 9.99986603e-01 -1.60249694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06439141799996 meters 0.0557747141837831 Centerline is valid? [True, True] Translation: X:261.06, Y:9.39, Z:-1.60 [[ 9.99495586e-01 -3.12026636e-02 5.91324523e-03 2.61064624e+02] [ 3.12035541e-02 9.99513049e-01 -5.83750462e-05 9.38525612e+00] [-5.90854431e-03 2.42859869e-04 9.99982515e-01 -1.60213953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12439141799996 meters 0.056190810674607336 Centerline is valid? [True, True] Translation: X:261.13, Y:9.38, Z:-1.60 [[ 9.99311280e-01 -3.65074981e-02 6.64598844e-03 2.61125617e+02] [ 3.65087405e-02 9.99333332e-01 -6.56828262e-05 9.38262840e+00] [-6.63915985e-03 3.08274256e-04 9.99977913e-01 -1.60188578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18439141799996 meters 0.05587385339978581 Centerline is valid? [True, True] Translation: X:261.19, Y:9.38, Z:-1.60 [[ 9.99025727e-01 -4.34772272e-02 7.57150828e-03 2.61185556e+02] [ 4.34790403e-02 9.99054337e-01 -7.49575760e-05 9.37851670e+00] [-7.56108924e-03 4.04086461e-04 9.99971333e-01 -1.60221799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24439141799996 meters 0.05521947091536038 Centerline is valid? [True, True] Translation: X:261.25, Y:9.38, Z:-1.60 [[ 9.98867702e-01 -4.67915515e-02 8.59443648e-03 2.61246934e+02] [ 4.67940106e-02 9.98904557e-01 -8.51501675e-05 9.38375601e+00] [-8.58103745e-03 4.87221903e-04 9.99963064e-01 -1.60271616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30439141799997 meters 0.055624372979576835 Centerline is valid? [True, True] Translation: X:261.31, Y:9.38, Z:-1.60 [[ 9.98940678e-01 -4.52495089e-02 8.36680697e-03 2.61306853e+02] [ 4.52517865e-02 9.98975610e-01 -8.30044568e-05 9.37858962e+00] [-8.35448019e-03 4.61529491e-04 9.99964994e-01 -1.60315107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36439141799997 meters 0.05557221021242454 Centerline is valid? [True, True] Translation: X:261.37, Y:9.38, Z:-1.60 [[ 9.99098670e-01 -4.16796340e-02 8.04088040e-03 2.61367985e+02] [ 4.16816228e-02 9.99130940e-01 -7.98426144e-05 9.38380541e+00] [-8.03056459e-03 4.14927594e-04 9.99967668e-01 -1.60372204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42439141799997 meters 0.056167502598851254 Centerline is valid? [True, True] Translation: X:261.43, Y:9.38, Z:-1.60 [[ 9.99445620e-01 -3.25211969e-02 7.12908788e-03 2.61427742e+02] [ 3.25225280e-02 9.99471000e-01 -7.08333256e-05 9.38068441e+00] [-7.12301301e-03 3.02650017e-04 9.99974585e-01 -1.60331661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.484391418 meters 0.0567050963920626 Centerline is valid? [True, True] Translation: X:261.49, Y:9.38, Z:-1.60 [[ 9.99765855e-01 -2.07041714e-02 6.29062368e-03 2.61487656e+02] [ 2.07049742e-02 9.99785627e-01 -6.25177018e-05 9.38103518e+00] [-6.28798077e-03 1.92750265e-04 9.99980212e-01 -1.60278009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters 0.056667633489443765 Centerline is valid? [True, True] Translation: X:261.55, Y:9.39, Z:-1.60 [[ 9.99931907e-01 -9.70922935e-03 6.47389483e-03 2.61547341e+02] [ 9.70984942e-03 9.99952856e-01 -6.43554164e-05 9.38807719e+00] [-6.47296479e-03 1.27211578e-04 9.99979042e-01 -1.60261612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters 0.05683345232803579 Centerline is valid? [True, True] Translation: X:261.61, Y:9.39, Z:-1.60 [[ 9.99959882e-01 -5.44979233e-03 7.10877278e-03 2.61609323e+02] [ 5.45043220e-03 9.99985144e-01 -7.06411436e-05 9.39085317e+00] [-7.10828219e-03 1.09384194e-04 9.99974730e-01 -1.60298682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters 0.057061322192607615 Centerline is valid? [True, True] Translation: X:261.67, Y:9.39, Z:-1.60 [[ 9.99973510e-01 -3.88508937e-03 6.15510657e-03 2.61670802e+02] [ 3.88554039e-03 9.99992449e-01 -6.13202767e-05 9.39053343e+00] [-6.15482186e-03 8.52345675e-05 9.99981055e-01 -1.60346589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters 0.057112267401776676 Centerline is valid? [True, True] Translation: X:261.73, Y:9.39, Z:-1.60 [[ 9.99963588e-01 -6.28608222e-03 5.77123782e-03 2.61732907e+02] [ 6.28652058e-03 9.99980238e-01 -5.78171717e-05 9.38935448e+00] [-5.77076032e-03 9.40960718e-05 9.99983345e-01 -1.60430354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters 0.05746257152287625 Centerline is valid? [True, True] Translation: X:261.79, Y:9.38, Z:-1.60 [[ 9.99896400e-01 -1.31240969e-02 5.91167046e-03 2.61792454e+02] [ 1.31246775e-02 9.99913866e-01 -5.94183050e-05 9.38259992e+00] [-5.91038145e-03 1.37000917e-04 9.99982524e-01 -1.60487227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters 0.0570423334370803 Centerline is valid? [True, True] Translation: X:261.85, Y:9.38, Z:-1.61 [[ 9.99779998e-01 -2.02027698e-02 5.63943270e-03 2.61853151e+02] [ 2.02034104e-02 9.99795889e-01 -5.66428804e-05 9.38237669e+00] [-5.63713729e-03 1.70566192e-04 9.99984097e-01 -1.60505818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters 0.05727920154113718 Centerline is valid? [True, True] Translation: X:261.91, Y:9.38, Z:-1.61 [[ 9.99688021e-01 -2.42785771e-02 5.86607887e-03 2.61913903e+02] [ 2.42793406e-02 9.99705212e-01 -5.89547495e-05 9.37970313e+00] [-5.86291828e-03 2.01360884e-04 9.99982793e-01 -1.60588626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters 0.05769964297355723 Centerline is valid? [True, True] Translation: X:261.97, Y:9.37, Z:-1.61 [[ 9.99588870e-01 -2.82487731e-02 4.90904343e-03 2.61973230e+02] [ 2.82493557e-02 9.99600906e-01 -4.93513149e-05 9.37460100e+00] [-4.90569014e-03 1.88008339e-04 9.99987949e-01 -1.60694932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters 0.05741737181576027 Centerline is valid? [True, True] Translation: X:262.03, Y:9.38, Z:-1.61 [[ 9.99537969e-01 -2.98568452e-02 5.69356094e-03 2.62034393e+02] [ 2.98576546e-02 9.99554159e-01 -5.71871312e-05 9.37538184e+00] [-5.68931509e-03 2.27157085e-04 9.99983790e-01 -1.60723083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters 0.05813428836609923 Centerline is valid? [True, True] Translation: X:262.10, Y:9.37, Z:-1.61 [[ 9.99521177e-01 -3.02392664e-02 6.55768248e-03 2.62096029e+02] [ 3.02403491e-02 9.99542654e-01 -6.59911691e-05 9.37297881e+00] [-6.55268783e-03 2.64266179e-04 9.99978496e-01 -1.60689039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters 0.0569784939016208 Centerline is valid? [True, True] Translation: X:262.16, Y:9.38, Z:-1.61 [[ 9.99496179e-01 -3.12305770e-02 5.66027434e-03 2.62158174e+02] [ 3.12314004e-02 9.99512179e-01 -5.71103810e-05 9.38009424e+00] [-5.65572956e-03 2.33859902e-04 9.99983979e-01 -1.60675536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20439141799994 meters 0.056789105934217175 Centerline is valid? [True, True] Translation: X:262.22, Y:9.38, Z:-1.61 [[ 9.99473801e-01 -3.19124986e-02 5.80629029e-03 2.62218828e+02] [ 3.19133776e-02 9.99490637e-01 -5.87700191e-05 9.37771774e+00] [-5.80145728e-03 2.44037429e-04 9.99983142e-01 -1.60783162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26439141799995 meters 0.05804277210728891 Centerline is valid? [True, True] Translation: X:262.28, Y:9.37, Z:-1.61 [[ 9.99431611e-01 -3.33990373e-02 4.57808999e-03 2.62279120e+02] [ 3.33996005e-02 9.99442077e-01 -4.65895234e-05 9.37200546e+00] [-4.57397972e-03 1.99469419e-04 9.99989519e-01 -1.60863577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32439141799995 meters 0.05641288814720067 Centerline is valid? [True, True] Translation: X:262.34, Y:9.38, Z:-1.61 [[ 9.99312620e-01 -3.68150336e-02 4.35209427e-03 2.62340139e+02] [ 3.68155749e-02 9.99322076e-01 -4.43005552e-05 9.38286357e+00] [-4.34751296e-03 2.04494957e-04 9.99990529e-01 -1.60892879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38439141799995 meters 0.05615815012147612 Centerline is valid? [True, True] Translation: X:262.40, Y:9.39, Z:-1.61 [[ 9.99189488e-01 -4.01858716e-02 2.33748115e-03 2.62400040e+02] [ 4.01860368e-02 9.99192215e-01 -2.37217562e-05 9.38646566e+00] [-2.33463968e-03 1.17636633e-04 9.99997268e-01 -1.60908787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44439141799995 meters 0.05563793477942891 Centerline is valid? [True, True] Translation: X:262.46, Y:9.39, Z:-1.61 [[ 9.99059740e-01 -4.31745563e-02 3.94878415e-03 2.62460985e+02] [ 4.31750524e-02 9.99067522e-01 -4.04269277e-05 9.39125758e+00] [-3.94335658e-03 2.10877879e-04 9.99992203e-01 -1.60829828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50439141799995 meters 0.05757166430150122 Centerline is valid? [True, True] Translation: X:262.52, Y:9.38, Z:-1.61 [[ 9.99082964e-01 -4.25562578e-02 4.71129431e-03 2.62522484e+02] [ 4.25569567e-02 9.99094041e-01 -4.81674693e-05 9.38323798e+00] [-4.70497624e-03 2.48621646e-04 9.99988901e-01 -1.60774859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56439141799996 meters 0.05684397644662553 Centerline is valid? [True, True] Translation: X:262.58, Y:9.39, Z:-1.61 [[ 9.99221033e-01 -3.87334539e-02 7.55295312e-03 2.62583062e+02] [ 3.87351492e-02 9.99249509e-01 -7.82368749e-05 9.38972339e+00] [-7.54425431e-03 3.70740697e-04 9.99971473e-01 -1.60667067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62439141799996 meters 0.05830733251231893 Centerline is valid? [True, True] Translation: X:262.64, Y:9.39, Z:-1.61 [[ 9.99464284e-01 -3.13091764e-02 9.53315285e-03 2.62642895e+02] [ 3.13115403e-02 9.99509669e-01 -9.87746833e-05 9.39028873e+00] [-9.52538589e-03 3.97219468e-04 9.99954554e-01 -1.60523923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68439141799996 meters 0.059042171465703674 Centerline is valid? [True, True] Translation: X:262.70, Y:9.40, Z:-1.60 [[ 9.99661716e-01 -2.40443642e-02 9.91572525e-03 2.62703561e+02] [ 2.40465645e-02 9.99710834e-01 -1.02723658e-04 9.39576157e+00] [-9.91038804e-03 3.41128035e-04 9.99950833e-01 -1.60367149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74439141799996 meters 0.055093028602117136 Centerline is valid? [True, True] Translation: X:262.76, Y:9.42, Z:-1.61 [[ 9.99736196e-01 -2.07325700e-02 9.88424018e-03 2.62763953e+02] [ 2.07345950e-02 9.99785010e-01 -1.02425620e-04 9.41536454e+00] [-9.87999162e-03 3.07344316e-04 9.99951144e-01 -1.60610797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80439141799997 meters 0.05780933428357556 Centerline is valid? [True, True] Translation: X:262.83, Y:9.40, Z:-1.60 [[ 9.99779296e-01 -1.85635108e-02 9.83642284e-03 2.62825630e+02] [ 1.85654126e-02 9.99827643e-01 -1.02057035e-04 9.40258888e+00] [-9.83283293e-03 2.84651759e-04 9.99951616e-01 -1.60470643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86439141799997 meters 0.056030529687545384 Centerline is valid? [True, True] Translation: X:262.89, Y:9.42, Z:-1.61 [[ 9.99828477e-01 -1.59079878e-02 9.48428861e-03 2.62886490e+02] [ 1.59096383e-02 9.99873429e-01 -9.86028675e-05 9.41581754e+00] [-9.48151960e-03 2.49477556e-04 9.99955018e-01 -1.60684475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92439141799997 meters 0.05625565493855566 Centerline is valid? [True, True] Translation: X:262.95, Y:9.42, Z:-1.61 [[ 9.99894023e-01 -1.18555842e-02 8.44910926e-03 2.62946511e+02] [ 1.18567499e-02 9.99929702e-01 -8.78823102e-05 9.41571256e+00] [-8.44747341e-03 1.88051972e-04 9.99964302e-01 -1.60709384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.984391418 meters 0.05635996534820181 Centerline is valid? [True, True] Translation: X:263.01, Y:9.42, Z:-1.61 [[ 9.99926813e-01 -8.56541067e-03 8.54409176e-03 2.63008540e+02] [ 8.56648326e-03 9.99963303e-01 -8.89460762e-05 9.41793397e+00] [-8.54301636e-03 1.62132386e-04 9.99963495e-01 -1.60708069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters 0.05659993858277646 Centerline is valid? [True, True] Translation: X:263.07, Y:9.42, Z:-1.61 [[ 9.99937838e-01 -5.12980201e-03 9.89972730e-03 2.63070377e+02] [ 5.13107661e-03 9.99986831e-01 -1.03356421e-04 9.42194908e+00] [-9.89906673e-03 1.54146255e-04 9.99950991e-01 -1.60561102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters 0.055898681084572445 Centerline is valid? [True, True] Translation: X:263.13, Y:9.42, Z:-1.61 [[ 9.99935024e-01 -5.37825354e-03 1.00509430e-02 2.63132184e+02] [ 5.37958256e-03 9.99985524e-01 -1.05196534e-04 9.42264567e+00] [-1.00502317e-02 1.59259576e-04 9.99949482e-01 -1.60674790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters 0.05623017491906672 Centerline is valid? [True, True] Translation: X:263.19, Y:9.42, Z:-1.61 [[ 9.99938561e-01 -7.39909746e-03 8.25395472e-03 2.63194795e+02] [ 7.40006575e-03 9.99972615e-01 -8.67772675e-05 9.42479129e+00] [-8.25308661e-03 1.47851744e-04 9.99965932e-01 -1.60985882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters 0.05520683695918193 Centerline is valid? [True, True] Translation: X:263.26, Y:9.43, Z:-1.61 [[ 9.99935865e-01 -9.11351571e-03 6.72389316e-03 2.63256445e+02] [ 9.11420103e-03 9.99958462e-01 -7.12883069e-05 9.42792196e+00] [-6.72296418e-03 1.32566649e-04 9.99977392e-01 -1.61254753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters 0.05580292563697108 Centerline is valid? [True, True] Translation: X:263.32, Y:9.43, Z:-1.61 [[ 9.99931830e-01 -1.02041171e-02 5.67544296e-03 2.63318087e+02] [ 1.02046258e-02 9.99947930e-01 -6.06849913e-05 9.42577955e+00] [-5.67452820e-03 1.18596626e-04 9.99983893e-01 -1.61414948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters 0.05575996227914972 Centerline is valid? [True, True] Translation: X:263.38, Y:9.42, Z:-1.61 [[ 9.99921532e-01 -1.16308289e-02 4.65341671e-03 2.63379027e+02] [ 1.16311871e-02 9.99932354e-01 -4.99047290e-05 9.42270750e+00] [-4.65252149e-03 1.04025573e-04 9.99989172e-01 -1.61453448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters 0.05532322449760797 Centerline is valid? [True, True] Translation: X:263.44, Y:9.42, Z:-1.62 [[ 9.99913432e-01 -1.26487051e-02 3.62464208e-03 2.63440941e+02] [ 1.26489306e-02 9.99919998e-01 -3.92827676e-05 9.42351504e+00] [-3.62385522e-03 8.51272130e-05 9.99993430e-01 -1.61588481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters 0.054782461998554126 Centerline is valid? [True, True] Translation: X:263.50, Y:9.42, Z:-1.62 [[ 9.99895052e-01 -1.43086024e-02 2.26916856e-03 2.63501906e+02] [ 1.43086944e-02 9.99897625e-01 -2.43279452e-05 9.41863525e+00] [-2.26858815e-03 5.67942315e-05 9.99997425e-01 -1.61764951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters 0.05462046920914088 Centerline is valid? [True, True] Translation: X:263.56, Y:9.42, Z:-1.62 [[ 9.99868029e-01 -1.61685500e-02 1.58171710e-03 2.63563698e+02] [ 1.61685970e-02 9.99869280e-01 -1.69291807e-05 9.42070810e+00] [-1.58123662e-03 4.25010928e-05 9.99998749e-01 -1.61716623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters 0.0550722712676778 Centerline is valid? [True, True] Translation: X:263.63, Y:9.42, Z:-1.62 [[ 9.99853174e-01 -1.71335260e-02 2.68563605e-04 2.63625919e+02] [ 1.71335273e-02 9.99853210e-01 -2.79756278e-06 9.41706673e+00] [-2.68476251e-04 7.39859391e-06 9.99999964e-01 -1.61831209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters 0.05596498367615476 Centerline is valid? [True, True] Translation: X:263.69, Y:9.40, Z:-1.62 [[ 9.99827009e-01 -1.85182276e-02 -1.73975566e-03 2.63685839e+02] [ 1.85182898e-02 9.99828522e-01 1.96694689e-05 9.40376026e+00] [ 1.73909308e-03 -5.18833657e-05 9.99998486e-01 -1.62199571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70439141799994 meters 0.05673572592421966 Centerline is valid? [True, True] Translation: X:263.75, Y:9.40, Z:-1.62 [[ 9.99791724e-01 -2.01597835e-02 -3.17667996e-03 2.63747035e+02] [ 2.01599983e-02 9.99796766e-01 3.56167744e-05 9.39908414e+00] [ 3.17531633e-03 -9.96512189e-05 9.99994954e-01 -1.62387564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76439141799995 meters 0.05604724964807612 Centerline is valid? [True, True] Translation: X:263.81, Y:9.40, Z:-1.62 [[ 9.99784075e-01 -2.04448988e-02 -3.71599352e-03 2.63808900e+02] [ 2.04451954e-02 9.99790974e-01 4.18523455e-05 9.40004834e+00] [ 3.71436111e-03 -1.17817522e-04 9.99993095e-01 -1.62355346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82439141799995 meters 0.05533638971632265 Centerline is valid? [True, True] Translation: X:263.87, Y:9.41, Z:-1.62 [[ 9.99827124e-01 -1.84448081e-02 -2.34775530e-03 2.63871044e+02] [ 1.84449214e-02 9.99829878e-01 2.65967798e-05 9.40706230e+00] [ 2.34686532e-03 -6.98963437e-05 9.99997244e-01 -1.62090384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88439141799995 meters 0.05649435239833997 Centerline is valid? [True, True] Translation: X:263.93, Y:9.40, Z:-1.62 [[ 9.99870949e-01 -1.59737675e-02 -1.70991427e-03 2.63930863e+02] [ 1.59738237e-02 9.99872410e-01 1.92299089e-05 9.39664503e+00] [ 1.70938892e-03 -4.65412963e-05 9.99998538e-01 -1.62283781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94439141799995 meters 0.05580544795587281 Centerline is valid? [True, True] Translation: X:263.99, Y:9.40, Z:-1.62 [[ 9.99909063e-01 -1.34794692e-02 -4.12309186e-04 2.63992825e+02] [ 1.34794723e-02 9.99909148e-01 4.78340607e-06 9.40482889e+00] [ 4.12207249e-04 -1.03406813e-05 9.99999915e-01 -1.61931763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00439141799995 meters 0.05605859379587492 Centerline is valid? [True, True] Translation: X:264.05, Y:9.40, Z:-1.62 [[ 9.99908711e-01 -1.34953322e-02 -6.67491306e-04 2.64053625e+02] [ 1.34953405e-02 9.99908934e-01 7.91003211e-06 9.39659746e+00] [ 6.67323772e-04 -1.69173325e-05 9.99999777e-01 -1.62178718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06439141799996 meters 0.05511420096469484 Centerline is valid? [True, True] Translation: X:264.12, Y:9.40, Z:-1.62 [[ 9.99881775e-01 -1.53675351e-02 -5.25267498e-04 2.64115868e+02] [ 1.53675404e-02 9.99881912e-01 6.15642556e-06 9.39603532e+00] [ 5.25110862e-04 -1.42277672e-05 9.99999862e-01 -1.62162775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12439141799996 meters 0.054698886212442344 Centerline is valid? [True, True] Translation: X:264.18, Y:9.40, Z:-1.62 [[ 9.99867974e-01 -1.62412110e-02 -5.07623509e-04 2.64177965e+02] [ 1.62412161e-02 9.99868103e-01 5.97568080e-06 9.39667041e+00] [ 5.07459502e-04 -1.42193149e-05 9.99999871e-01 -1.62171087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18439141799996 meters 0.05453529464981904 Centerline is valid? [True, True] Translation: X:264.24, Y:9.40, Z:-1.62 [[ 9.99826571e-01 -1.86127099e-02 -6.28612926e-04 2.64238595e+02] [ 1.86127182e-02 9.99826768e-01 7.30140340e-06 9.39565061e+00] [ 6.28368131e-04 -1.90003324e-05 9.99999802e-01 -1.62178744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24439141799996 meters 0.056203750814093546 Centerline is valid? [True, True] Translation: X:264.30, Y:9.39, Z:-1.62 [[ 9.99800071e-01 -1.99745158e-02 -9.14492048e-04 2.64299330e+02] [ 1.99745340e-02 9.99800489e-01 1.08301229e-05 9.39183334e+00] [ 9.14093271e-04 -2.90945101e-05 9.99999582e-01 -1.62265719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30439141799997 meters 0.055311306757128434 Centerline is valid? [True, True] Translation: X:264.36, Y:9.39, Z:-1.62 [[ 9.99768821e-01 -2.14950990e-02 5.15745110e-04 2.64360202e+02] [ 2.14951047e-02 9.99768954e-01 -5.61892837e-06 9.38811878e+00] [-5.15505169e-04 1.67036245e-05 9.99999867e-01 -1.62296117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36439141799997 meters 0.05552210908629931 Centerline is valid? [True, True] Translation: X:264.42, Y:9.39, Z:-1.62 [[ 9.99791048e-01 -2.02487038e-02 2.80194856e-03 2.64422191e+02] [ 2.02488735e-02 9.99794970e-01 -3.22089860e-05 9.39004692e+00] [-2.80072188e-03 8.89385578e-05 9.99996074e-01 -1.62254638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42439141799997 meters 0.055217108623619816 Centerline is valid? [True, True] Translation: X:264.48, Y:9.40, Z:-1.62 [[ 9.99880745e-01 -1.49178660e-02 3.99403651e-03 2.64482396e+02] [ 1.49181691e-02 9.99888717e-01 -4.61178863e-05 9.39701392e+00] [-3.99290406e-03 1.05696099e-04 9.99992023e-01 -1.62211127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.484391418 meters 0.05671339970013946 Centerline is valid? [True, True] Translation: X:264.54, Y:9.39, Z:-1.62 [[ 9.99938010e-01 -1.04665312e-02 3.79837949e-03 2.64542126e+02] [ 1.04667733e-02 9.99945221e-01 -4.38577446e-05 9.38811393e+00] [-3.79771238e-03 8.36118029e-05 9.99992785e-01 -1.62343900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters 0.05509844321535185 Centerline is valid? [True, True] Translation: X:264.60, Y:9.40, Z:-1.62 [[ 9.99972134e-01 -5.49314412e-03 5.05537188e-03 2.64602629e+02] [ 5.49350939e-03 9.99984909e-01 -5.83705930e-05 9.39967150e+00] [-5.05497495e-03 8.61406993e-05 9.99987220e-01 -1.62252003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters 0.05586107132594214 Centerline is valid? [True, True] Translation: X:264.66, Y:9.40, Z:-1.62 [[ 9.99981410e-01 -3.26860563e-03 5.14737314e-03 2.64663150e+02] [ 3.26895478e-03 9.99994655e-01 -5.94190920e-05 9.39629233e+00] [-5.14715141e-03 7.62445175e-05 9.99986750e-01 -1.62408167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters 0.05580345752657131 Centerline is valid? [True, True] Translation: X:264.73, Y:9.40, Z:-1.63 [[ 9.99989540e-01 -1.40082569e-03 4.35401246e-03 2.64725067e+02] [ 1.40105792e-03 9.99999017e-01 -5.02870871e-05 9.39912427e+00] [-4.35393774e-03 5.63867847e-05 9.99990520e-01 -1.62553673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters 0.05534633545249374 Centerline is valid? [True, True] Translation: X:264.79, Y:9.40, Z:-1.63 [[ 9.99990817e-01 -5.09022074e-04 4.25529470e-03 2.64786760e+02] [ 5.09236332e-04 9.99999869e-01 -4.92675913e-05 9.39709582e+00] [-4.25526906e-03 5.14340895e-05 9.99990945e-01 -1.62662898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters 0.05517929521815652 Centerline is valid? [True, True] Translation: X:264.85, Y:9.40, Z:-1.63 [[ 9.99992779e-01 -1.28265106e-04 3.79821569e-03 2.64848669e+02] [ 1.28433615e-04 9.99999991e-01 -4.41214162e-05 9.39861775e+00] [-3.79820999e-03 4.46089162e-05 9.99992786e-01 -1.62663114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters 0.055027256713357925 Centerline is valid? [True, True] Translation: X:264.91, Y:9.40, Z:-1.63 [[ 9.99990999e-01 -2.09608169e-03 3.68882306e-03 2.64910533e+02] [ 2.09625375e-03 9.99997802e-01 -4.27767166e-05 9.39801768e+00] [-3.68872528e-03 5.05090407e-05 9.99993195e-01 -1.62710549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters 0.05523167261932174 Centerline is valid? [True, True] Translation: X:264.97, Y:9.39, Z:-1.63 [[ 9.99977781e-01 -5.03980805e-03 4.36329108e-03 2.64971230e+02] [ 5.04008025e-03 9.99987297e-01 -5.13915889e-05 9.39394366e+00] [-4.36297665e-03 7.33817843e-05 9.99990479e-01 -1.62775674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters 0.055107940767826824 Centerline is valid? [True, True] Translation: X:265.03, Y:9.39, Z:-1.63 [[ 9.99937833e-01 -9.93110660e-03 5.06989522e-03 2.65032366e+02] [ 9.93153744e-03 9.99950679e-01 -5.98115119e-05 9.39368404e+00] [-5.06905117e-03 1.10159648e-04 9.99987146e-01 -1.62824146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters 0.05680803163709227 Centerline is valid? [True, True] Translation: X:265.09, Y:9.38, Z:-1.63 [[ 9.99906600e-01 -1.31645129e-02 3.67233079e-03 2.65091855e+02] [ 1.31647611e-02 9.99913340e-01 -4.33992433e-05 9.37956370e+00] [-3.67144122e-03 9.17405472e-05 9.99993256e-01 -1.62914993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters 0.055647025515203376 Centerline is valid? [True, True] Translation: X:265.15, Y:9.39, Z:-1.63 [[ 9.99885065e-01 -1.45016204e-02 4.42261966e-03 2.65154478e+02] [ 1.45019931e-02 9.99894839e-01 -5.22168294e-05 9.38559979e+00] [-4.42139735e-03 1.16347628e-04 9.99990219e-01 -1.62830552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters 0.05440693288172365 Centerline is valid? [True, True] Translation: X:265.22, Y:9.39, Z:-1.63 [[ 9.99879880e-01 -1.46011187e-02 5.19939985e-03 2.65217219e+02] [ 1.46016362e-02 9.99893389e-01 -6.15800282e-05 9.39137698e+00] [-5.19794639e-03 1.37492376e-04 9.99986481e-01 -1.62777992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20439141799994 meters 0.05598175369334007 Centerline is valid? [True, True] Translation: X:265.28, Y:9.38, Z:-1.63 [[ 9.99899336e-01 -1.31437425e-02 5.34417032e-03 2.65278474e+02] [ 1.31442694e-02 9.99913608e-01 -6.34806374e-05 9.38483204e+00] [-5.34287425e-03 1.33719462e-04 9.99985718e-01 -1.62822943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26439141799995 meters 0.05752877114559686 Centerline is valid? [True, True] Translation: X:265.34, Y:9.38, Z:-1.63 [[ 9.99915242e-01 -1.24434899e-02 3.82991819e-03 2.65339436e+02] [ 1.24437553e-02 9.99922572e-01 -4.54671859e-05 9.37992827e+00] [-3.82905587e-03 9.31218969e-05 9.99992665e-01 -1.62973687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32439141799995 meters 0.055811038995566664 Centerline is valid? [True, True] Translation: X:265.40, Y:9.39, Z:-1.63 [[ 9.99909418e-01 -1.32249286e-02 2.50152325e-03 2.65402083e+02] [ 1.32250445e-02 9.99912545e-01 -2.97946058e-05 9.38505301e+00] [-2.50091044e-03 6.28746631e-05 9.99996871e-01 -1.63133453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38439141799995 meters 0.05631942370226571 Centerline is valid? [True, True] Translation: X:265.46, Y:9.38, Z:-1.63 [[ 9.99881377e-01 -1.53398544e-02 1.38585177e-03 2.65462703e+02] [ 1.53398921e-02 9.99882337e-01 -1.65994166e-05 9.38452143e+00] [-1.38543407e-03 3.78562642e-05 9.99999040e-01 -1.63221818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44439141799995 meters 0.05534885641288208 Centerline is valid? [True, True] Translation: X:265.52, Y:9.39, Z:-1.63 [[ 9.99863689e-01 -1.64900878e-02 8.24913134e-04 2.65524343e+02] [ 1.64901015e-02 9.99864029e-01 -9.78485304e-06 9.38675696e+00] [-8.24639617e-04 2.33864205e-05 9.99999660e-01 -1.63220134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50439141799995 meters 0.055338005555896505 Centerline is valid? [True, True] Translation: X:265.59, Y:9.39, Z:-1.63 [[ 9.99857854e-01 -1.68073682e-02 1.33542707e-03 2.65586923e+02] [ 1.68074045e-02 9.99858745e-01 -1.59245071e-05 9.38828256e+00] [-1.33497079e-03 3.83673064e-05 9.99999108e-01 -1.63187578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56439141799996 meters 0.056743124423018286 Centerline is valid? [True, True] Translation: X:265.65, Y:9.38, Z:-1.63 [[ 9.99868202e-01 -1.59849956e-02 2.83893119e-03 2.65648415e+02] [ 1.59851569e-02 9.99872229e-01 -3.41335084e-05 9.38295674e+00] [-2.83802283e-03 7.95097700e-05 9.99995970e-01 -1.63142447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62439141799996 meters 0.05518189360987948 Centerline is valid? [True, True] Translation: X:265.71, Y:9.39, Z:-1.63 [[ 9.99880778e-01 -1.49805090e-02 3.74367975e-03 2.65711242e+02] [ 1.49807833e-02 9.99887781e-01 -4.52296635e-05 9.38993180e+00] [-3.74258207e-03 1.01307526e-04 9.99992991e-01 -1.62938113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68439141799996 meters 0.05577887114777039 Centerline is valid? [True, True] Translation: X:265.77, Y:9.39, Z:-1.63 [[ 9.99877293e-01 -1.52857383e-02 3.42715116e-03 2.65771976e+02] [ 1.52859705e-02 9.99883162e-01 -4.15629144e-05 9.38780548e+00] [-3.42611541e-03 9.39451459e-05 9.99994126e-01 -1.62969972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74439141799996 meters 0.054842862053913345 Centerline is valid? [True, True] Translation: X:265.83, Y:9.39, Z:-1.63 [[ 9.99852637e-01 -1.69356313e-02 2.80856118e-03 2.65834177e+02] [ 1.69357938e-02 9.99856579e-01 -3.40744732e-05 9.39292825e+00] [-2.80758130e-03 8.16346647e-05 9.99996055e-01 -1.62933294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80439141799997 meters 0.05569515329217147 Centerline is valid? [True, True] Translation: X:265.90, Y:9.39, Z:-1.63 [[ 9.99844220e-01 -1.75407789e-02 1.96398918e-03 2.65895359e+02] [ 1.75408596e-02 9.99846147e-01 -2.38662454e-05 9.38993743e+00] [-1.96326839e-03 5.83125860e-05 9.99998071e-01 -1.62947386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86439141799997 meters 0.05593258367867297 Centerline is valid? [True, True] Translation: X:265.96, Y:9.39, Z:-1.63 [[ 9.99869939e-01 -1.61091185e-02 7.74997113e-04 2.65957915e+02] [ 1.61091306e-02 9.99870240e-01 -9.26866822e-06 9.39462908e+00] [-7.74747239e-04 2.17519924e-05 9.99999700e-01 -1.62954114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92439141799997 meters 0.055391010243206855 Centerline is valid? [True, True] Translation: X:266.02, Y:9.40, Z:-1.63 [[ 9.99904462e-01 -1.38081199e-02 6.34250895e-04 2.66019470e+02] [ 1.38081275e-02 9.99904663e-01 -7.69151969e-06 9.39848948e+00] [-6.34084222e-04 1.64486021e-05 9.99999799e-01 -1.62943022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.984391418 meters 0.05524148583840891 Centerline is valid? [True, True] Translation: X:266.08, Y:9.40, Z:-1.63 [[ 9.99920999e-01 -1.25413793e-02 8.41851904e-04 2.66082287e+02] [ 1.25413922e-02 9.99921354e-01 -1.00867131e-05 9.39964643e+00] [-8.41659194e-04 2.06439112e-05 9.99999646e-01 -1.62942203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters 0.05605555492097974 Centerline is valid? [True, True] Translation: X:266.14, Y:9.40, Z:-1.63 [[ 9.99961407e-01 -8.62217452e-03 1.68603398e-03 2.66141670e+02] [ 8.62222182e-03 9.99962828e-01 -2.07901483e-05 9.39824853e+00] [-1.68579205e-03 3.53267049e-05 9.99998578e-01 -1.62958038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters 0.05520885588949198 Centerline is valid? [True, True] Translation: X:266.20, Y:9.40, Z:-1.63 [[ 9.99970205e-01 -7.02560929e-03 3.19858715e-03 2.66203612e+02] [ 7.02577116e-03 9.99975318e-01 -3.93727453e-05 9.40202056e+00] [-3.19823159e-03 6.18441135e-05 9.99994884e-01 -1.62791740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters 0.05481505141970214 Centerline is valid? [True, True] Translation: X:266.27, Y:9.40, Z:-1.63 [[ 9.99965253e-01 -7.60176481e-03 3.42127911e-03 2.66266272e+02] [ 7.60195289e-03 9.99971104e-01 -4.19721368e-05 9.40302500e+00] [-3.42086119e-03 6.79790810e-05 9.99994147e-01 -1.62803688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters 0.05523643553098282 Centerline is valid? [True, True] Translation: X:266.33, Y:9.40, Z:-1.63 [[ 9.99931001e-01 -1.16018020e-02 1.84145441e-03 2.66327230e+02] [ 1.16018639e-02 9.99932696e-01 -2.29278446e-05 9.40300966e+00] [-1.84106447e-03 4.42905661e-05 9.99998304e-01 -1.62948100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters 0.05477535297343661 Centerline is valid? [True, True] Translation: X:266.39, Y:9.40, Z:-1.63 [[ 9.99814769e-01 -1.92304275e-02 7.85769875e-04 2.66386805e+02] [ 1.92304412e-02 9.99815078e-01 -9.85568280e-06 9.40184905e+00] [-7.85435040e-04 2.49645586e-05 9.99999691e-01 -1.62980612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters 0.05435120101888778 Centerline is valid? [True, True] Translation: X:266.45, Y:9.40, Z:-1.63 [[ 9.99640582e-01 -2.67953808e-02 8.44790473e-04 2.66447012e+02] [ 2.67953992e-02 9.99640939e-01 -1.05274928e-05 9.39917022e+00] [-8.44205054e-04 3.31602070e-05 9.99999643e-01 -1.63011697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters 0.05435656628865492 Centerline is valid? [True, True] Translation: X:266.51, Y:9.40, Z:-1.63 [[ 9.99481085e-01 -3.21316162e-02 2.26255725e-03 2.66507610e+02] [ 3.21317622e-02 9.99483641e-01 -2.82118028e-05 9.39765938e+00] [-2.26048247e-03 1.00897115e-04 9.99997440e-01 -1.62949711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters 0.05442709305791472 Centerline is valid? [True, True] Translation: X:266.57, Y:9.40, Z:-1.63 [[ 9.99413985e-01 -3.41105982e-02 2.85548805e-03 2.66567627e+02] [ 3.41108386e-02 9.99418055e-01 -3.55138909e-05 9.39660495e+00] [-2.85261491e-03 1.32896171e-04 9.99995922e-01 -1.62968789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters 0.05581861108454464 Centerline is valid? [True, True] Translation: X:266.63, Y:9.39, Z:-1.63 [[ 9.99402370e-01 -3.44436585e-02 2.92195035e-03 2.66628626e+02] [ 3.44439112e-02 9.99406632e-01 -3.62133680e-05 9.38641605e+00] [-2.91896924e-03 1.36835124e-04 9.99995730e-01 -1.63054656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters 0.05434293446988091 Centerline is valid? [True, True] Translation: X:266.69, Y:9.39, Z:-1.63 [[ 9.99414978e-01 -3.40658490e-02 3.03641235e-03 2.66690477e+02] [ 3.40661218e-02 9.99419581e-01 -3.81470378e-05 9.39202064e+00] [-3.03335045e-03 1.41563514e-04 9.99995389e-01 -1.62899397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters 0.05511403579893382 Centerline is valid? [True, True] Translation: X:266.75, Y:9.39, Z:-1.63 [[ 9.99483307e-01 -3.20416329e-02 2.54009779e-03 2.66750837e+02] [ 3.20418177e-02 9.99486529e-01 -3.21059036e-05 9.39063477e+00] [-2.53776480e-03 1.13478665e-04 9.99996773e-01 -1.62946493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70439141799994 meters 0.056438430700050134 Centerline is valid? [True, True] Translation: X:266.81, Y:9.38, Z:-1.63 [[ 9.99623681e-01 -2.74262190e-02 5.46191112e-04 2.66810275e+02] [ 2.74262269e-02 9.99623830e-01 -6.90804477e-06 9.37964910e+00] [-5.45796190e-04 2.18854065e-05 9.99999851e-01 -1.63200035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76439141799995 meters 0.055385378895567945 Centerline is valid? [True, True] Translation: X:266.87, Y:9.38, Z:-1.63 [[ 9.99754324e-01 -2.21643153e-02 -1.86720576e-04 2.66870570e+02] [ 2.21643162e-02 9.99754341e-01 2.35531176e-06 9.38218373e+00] [ 1.86622502e-04 -6.49326698e-06 9.99999983e-01 -1.63281542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82439141799995 meters 0.05601789219010376 Centerline is valid? [True, True] Translation: X:266.93, Y:9.39, Z:-1.63 [[ 9.99944563e-01 -1.05209617e-02 -4.25526914e-04 2.66931898e+02] [ 1.05209650e-02 9.99944653e-01 5.47225394e-06 9.39423980e+00] [ 4.25445789e-04 -9.94890433e-06 9.99999909e-01 -1.63162218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88439141799995 meters 0.056361237049260667 Centerline is valid? [True, True] Translation: X:266.99, Y:9.40, Z:-1.63 [[ 9.99988093e-01 4.86682893e-03 -3.58480562e-04 2.66991366e+02] [-4.86682761e-03 9.99988157e-01 4.55455819e-06 9.39944307e+00] [ 3.58498483e-04 -2.80984086e-06 9.99999936e-01 -1.63225973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94439141799995 meters 0.05623186240563802 Centerline is valid? [True, True] Translation: X:267.05, Y:9.41, Z:-1.63 [[ 9.99874671e-01 1.58299770e-02 -2.34142666e-04 2.67050181e+02] [-1.58299769e-02 9.99874698e-01 2.28922655e-06 9.40516739e+00] [ 2.34149566e-04 1.41753336e-06 9.99999973e-01 -1.63189505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00439141799995 meters 0.05695722806573631 Centerline is valid? [True, True] Translation: X:267.11, Y:9.41, Z:-1.63 [[ 9.99582310e-01 2.88988041e-02 -2.52379243e-04 2.67109781e+02] [-2.88988043e-02 9.99582342e-01 3.10653470e-06 9.40859014e+00] [ 2.52363610e-04 4.18822123e-06 9.99999968e-01 -1.62937851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06439141799996 meters 0.05710821238019326 Centerline is valid? [True, True] Translation: X:267.17, Y:9.41, Z:-1.63 [[ 9.99426685e-01 3.38522651e-02 5.71301367e-04 2.67169701e+02] [-3.38522665e-02 9.99426848e-01 -7.16310855e-06 9.41105313e+00] [-5.71216411e-04 -1.21808443e-05 9.99999837e-01 -1.63028035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12439141799996 meters 0.05743630213353019 Centerline is valid? [True, True] Translation: X:267.23, Y:9.40, Z:-1.63 [[ 9.99492934e-01 3.18406121e-02 -2.22804185e-04 2.67227740e+02] [-3.18406123e-02 9.99492959e-01 2.52509083e-06 9.40218479e+00] [ 2.22771614e-04 4.57041124e-06 9.99999975e-01 -1.62917007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18439141799996 meters 0.05607017832911246 Centerline is valid? [True, True] Translation: X:267.29, Y:9.40, Z:-1.63 [[ 9.99787301e-01 2.06038010e-02 -9.14873899e-04 2.67288349e+02] [-2.06037991e-02 9.99787719e-01 1.14805201e-05 9.39690948e+00] [ 9.14916231e-04 7.37179984e-06 9.99999581e-01 -1.63192375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24439141799996 meters 0.055485944626718735 Centerline is valid? [True, True] Translation: X:267.35, Y:9.39, Z:-1.63 [[ 9.99951221e-01 9.60364128e-03 -2.30760186e-03 2.67345690e+02] [-9.60360109e-03 9.99953884e-01 2.84961724e-05 9.38789743e+00] [ 2.30776911e-03 -6.33349471e-06 9.99997337e-01 -1.63287126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30439141799997 meters 0.05640429186621738 Centerline is valid? [True, True] Translation: X:267.41, Y:9.37, Z:-1.63 [[ 9.99919426e-01 -1.25404964e-02 -1.96931075e-03 2.67405578e+02] [ 1.25405690e-02 9.99921364e-01 2.45095030e-05 9.36987434e+00] [ 1.96884853e-03 -4.92038055e-05 9.99998061e-01 -1.63347370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36439141799997 meters 0.05549720736133459 Centerline is valid? [True, True] Translation: X:267.47, Y:9.37, Z:-1.63 [[ 9.99786907e-01 -2.06423777e-02 -1.81468611e-04 2.67466130e+02] [ 2.06423785e-02 9.99786923e-01 2.27320056e-06 9.36731923e+00] [ 1.81383020e-04 -6.01865991e-06 9.99999984e-01 -1.63235165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42439141799997 meters 0.0558312771336524 Centerline is valid? [True, True] Translation: X:267.53, Y:9.35, Z:-1.63 [[ 9.99654056e-01 -2.61821722e-02 2.50254922e-03 2.67525970e+02] [ 2.61823319e-02 9.99657184e-01 -3.10527909e-05 9.35359513e+00] [-2.50087827e-03 9.65646226e-05 9.99996868e-01 -1.63311809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.484391418 meters 0.056040201684647295 Centerline is valid? [True, True] Translation: X:267.59, Y:9.35, Z:-1.63 [[ 9.99673542e-01 -2.52854109e-02 3.66836255e-03 2.67588418e+02] [ 2.52857488e-02 9.99680263e-01 -4.57583615e-05 9.35036189e+00] [-3.66603262e-03 1.38500717e-04 9.99993270e-01 -1.63386543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters 0.05600714459107211 Centerline is valid? [True, True] Translation: X:267.65, Y:9.34, Z:-1.63 [[ 9.99733272e-01 -2.27857158e-02 3.76787727e-03 2.67648398e+02] [ 2.27860553e-02 9.99740363e-01 -4.71760018e-05 9.34292850e+00] [-3.76582405e-03 1.33018478e-04 9.99992900e-01 -1.63483986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters 0.05579445950934226 Centerline is valid? [True, True] Translation: X:267.71, Y:9.34, Z:-1.64 [[ 9.99821333e-01 -1.86011456e-02 3.36133028e-03 2.67708704e+02] [ 1.86013922e-02 9.99826978e-01 -4.21213070e-05 9.33980246e+00] [-3.35996519e-03 1.04639204e-04 9.99994350e-01 -1.63585703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters 0.0562104589463787 Centerline is valid? [True, True] Translation: X:267.77, Y:9.34, Z:-1.64 [[ 9.99896592e-01 -1.42273022e-02 2.09490719e-03 2.67768819e+02] [ 1.42273884e-02 9.99898785e-01 -2.62642663e-05 9.33956369e+00] [-2.09432149e-03 5.60666087e-05 9.99997805e-01 -1.63758049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters 0.055663105665141197 Centerline is valid? [True, True] Translation: X:267.83, Y:9.34, Z:-1.64 [[ 9.99929559e-01 -1.17587710e-02 1.61527673e-03 2.67830667e+02] [ 1.17588188e-02 9.99930863e-01 -2.01366793e-05 9.34185553e+00] [-1.61492827e-03 3.91290072e-05 9.99998695e-01 -1.63834895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters 0.05618132336521052 Centerline is valid? [True, True] Translation: X:267.89, Y:9.34, Z:-1.64 [[ 9.99970429e-01 -7.62207853e-03 1.02207964e-03 2.67890895e+02] [ 7.62209564e-03 9.99970951e-01 -1.28366667e-05 9.33757914e+00] [-1.02195211e-03 2.06266759e-05 9.99999478e-01 -1.63976524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters 0.056134731466898395 Centerline is valid? [True, True] Translation: X:267.95, Y:9.34, Z:-1.64 [[ 9.99997636e-01 -2.16355854e-03 2.16195441e-04 2.67951676e+02] [ 2.16355918e-03 9.99997660e-01 -2.72446295e-06 9.34045683e+00] [-2.16189041e-04 3.19220815e-06 9.99999977e-01 -1.63955760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters 0.05642019338126886 Centerline is valid? [True, True] Translation: X:268.01, Y:9.34, Z:-1.64 [[ 9.99999958e-01 -2.49121737e-04 1.50945015e-04 2.68012404e+02] [ 2.49122011e-04 9.99999969e-01 -1.79657482e-06 9.33952218e+00] [-1.50944563e-04 1.83417847e-06 9.99999989e-01 -1.64016238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters 0.0563727346370193 Centerline is valid? [True, True] Translation: X:268.07, Y:9.34, Z:-1.64 [[ 9.99994517e-01 3.15155084e-03 1.01644724e-03 2.68071571e+02] [-3.15153953e-03 9.99995034e-01 -1.27289040e-05 9.33810034e+00] [-1.01648231e-03 9.52546053e-06 9.99999483e-01 -1.64035285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters 0.056137486539534355 Centerline is valid? [True, True] Translation: X:268.13, Y:9.34, Z:-1.64 [[ 9.99988424e-01 3.76231843e-03 2.99964256e-03 2.68130687e+02] [-3.76222205e-03 9.99992922e-01 -3.77750701e-05 9.33508730e+00] [-2.99976345e-03 2.64893114e-05 9.99995500e-01 -1.63928712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters 0.05600209724426745 Centerline is valid? [True, True] Translation: X:268.19, Y:9.34, Z:-1.64 [[ 9.99974977e-01 5.47284489e-03 4.48266440e-03 2.68191037e+02] [-5.47264714e-03 9.99985023e-01 -5.63792836e-05 9.33580478e+00] [-4.48290582e-03 3.18458323e-05 9.99989951e-01 -1.63782204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters 0.05656256727148116 Centerline is valid? [True, True] Translation: X:268.25, Y:9.33, Z:-1.64 [[ 9.99959518e-01 6.86712846e-03 5.81421092e-03 2.68251164e+02] [-6.86681935e-03 9.99976420e-01 -7.31263859e-05 9.33178318e+00] [-5.81457599e-03 3.31982895e-05 9.99983095e-01 -1.63854322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20439141799994 meters 0.05662547164387294 Centerline is valid? [True, True] Translation: X:268.31, Y:9.33, Z:-1.64 [[ 9.99959831e-01 7.26696458e-03 5.24674639e-03 2.68311887e+02] [-7.26671840e-03 9.99973595e-01 -6.59828468e-05 9.32930458e+00] [-5.24708734e-03 2.78535678e-05 9.99986234e-01 -1.63881671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26439141799995 meters 0.05751298735854058 Centerline is valid? [True, True] Translation: X:268.37, Y:9.32, Z:-1.64 [[ 9.99975381e-01 5.30679302e-03 4.59077868e-03 2.68372175e+02] [-5.30658374e-03 9.99985918e-01 -5.77661720e-05 9.32126922e+00] [-4.59102059e-03 3.34033984e-05 9.99989461e-01 -1.64022763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32439141799995 meters 0.057186750605452225 Centerline is valid? [True, True] Translation: X:268.43, Y:9.32, Z:-1.64 [[ 9.99993538e-01 4.45997421e-05 3.59474461e-03 2.68433596e+02] [-4.44374433e-05 9.99999998e-01 -4.52287595e-05 9.31661554e+00] [-3.59474662e-03 4.50687260e-05 9.99993538e-01 -1.64091398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38439141799995 meters 0.05730546838781091 Centerline is valid? [True, True] Translation: X:268.49, Y:9.31, Z:-1.64 [[ 9.99983911e-01 -5.14820228e-03 2.38197719e-03 2.68493965e+02] [ 5.14828823e-03 9.99986747e-01 -2.99542549e-05 9.30780026e+00] [-2.38179141e-03 4.22168781e-05 9.99997163e-01 -1.64136646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44439141799995 meters 0.05689981453811269 Centerline is valid? [True, True] Translation: X:268.55, Y:9.31, Z:-1.64 [[ 9.99956928e-01 -8.96395297e-03 2.40628546e-03 2.68554785e+02] [ 8.96405191e-03 9.99959822e-01 -3.03382246e-05 9.30627504e+00] [-2.40591683e-03 5.19069856e-05 9.99997104e-01 -1.64129625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50439141799995 meters 0.05782466930079449 Centerline is valid? [True, True] Translation: X:268.62, Y:9.30, Z:-1.64 [[ 9.99949590e-01 -9.99036474e-03 1.00508298e-03 2.68616039e+02] [ 9.99038200e-03 9.99950095e-01 -1.21540691e-05 9.29831835e+00] [-1.00491140e-03 2.21946194e-05 9.99999495e-01 -1.64195580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56439141799996 meters 0.05722341134185062 Centerline is valid? [True, True] Translation: X:268.68, Y:9.30, Z:-1.64 [[ 9.99937303e-01 -1.10985333e-02 1.48733067e-03 2.68678648e+02] [ 1.10985731e-02 9.99938409e-01 -1.85225225e-05 9.29735675e+00] [-1.48703349e-03 3.50286093e-05 9.99998894e-01 -1.64057381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62439141799996 meters 0.05724124427059138 Centerline is valid? [True, True] Translation: X:268.74, Y:9.29, Z:-1.64 [[ 9.99941698e-01 -1.03553707e-02 3.06039219e-03 2.68741031e+02] [ 1.03555394e-02 9.99946379e-01 -3.92526536e-05 9.29126289e+00] [-3.05982161e-03 7.09423769e-05 9.99995316e-01 -1.64077176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68439141799996 meters 0.05716303414626501 Centerline is valid? [True, True] Translation: X:268.80, Y:9.29, Z:-1.64 [[ 9.99973533e-01 -6.88061374e-03 2.36433120e-03 2.68802282e+02] [ 6.88070496e-03 9.99976327e-01 -3.04517972e-05 9.29030341e+00] [-2.36406570e-03 4.67192566e-05 9.99997205e-01 -1.64134003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74439141799996 meters 0.05686096649241621 Centerline is valid? [True, True] Translation: X:268.86, Y:9.29, Z:-1.64 [[ 9.99988120e-01 -4.19703195e-03 2.47886847e-03 2.68862931e+02] [ 4.19712410e-03 9.99991192e-01 -3.19712613e-05 9.29117700e+00] [-2.47871245e-03 4.23750001e-05 9.99996927e-01 -1.64107160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80439141799997 meters 0.05651555482315821 Centerline is valid? [True, True] Translation: X:268.92, Y:9.29, Z:-1.64 [[ 9.99993704e-01 -1.68483245e-03 3.12297191e-03 2.68924084e+02] [ 1.68496661e-03 9.99998580e-01 -4.03296364e-05 9.28936327e+00] [-3.12289952e-03 4.55914859e-05 9.99995123e-01 -1.64098813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86439141799997 meters 0.05662593882400935 Centerline is valid? [True, True] Translation: X:268.99, Y:9.29, Z:-1.64 [[ 9.99997835e-01 -9.10758252e-04 1.87102782e-03 2.68985980e+02] [ 9.10805027e-04 9.99999585e-01 -2.41479375e-05 9.29143408e+00] [-1.87100505e-03 2.58520268e-05 9.99998249e-01 -1.64040182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92439141799997 meters 0.05704140842543323 Centerline is valid? [True, True] Translation: X:269.05, Y:9.28, Z:-1.64 [[ 9.99998102e-01 -1.94065030e-03 1.75210810e-04 2.69045883e+02] [ 1.94065071e-03 9.99998117e-01 -2.17945389e-06 9.28139338e+00] [-1.75206251e-04 2.51947274e-06 9.99999985e-01 -1.64458493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.984391418 meters 0.0576182477194529 Centerline is valid? [True, True] Translation: X:269.11, Y:9.28, Z:-1.64 [[ 9.99996134e-01 -2.73335159e-03 -5.10995287e-04 2.69106612e+02] [ 2.73335537e-03 9.99996264e-01 6.69806809e-06 9.28120413e+00] [ 5.10975070e-04 -8.09477390e-06 9.99999869e-01 -1.64275854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters 0.05689892965816421 Centerline is valid? [True, True] Translation: X:269.17, Y:9.28, Z:-1.64 [[ 9.99995872e-01 -2.84396460e-03 4.09542097e-04 2.69167318e+02] [ 2.84396702e-03 9.99995956e-01 -5.32863896e-06 9.27788955e+00] [-4.09525286e-04 6.49334119e-06 9.99999916e-01 -1.64259745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters 0.05699002809837023 Centerline is valid? [True, True] Translation: X:269.23, Y:9.27, Z:-1.64 [[ 9.99994968e-01 -2.44519744e-03 2.02120860e-03 2.69227430e+02] [ 2.44525535e-03 9.99997010e-01 -2.61811747e-05 9.27261613e+00] [-2.02113853e-03 3.11234141e-05 9.99997957e-01 -1.64236304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters 0.05719604422128694 Centerline is valid? [True, True] Translation: X:269.29, Y:9.26, Z:-1.64 [[ 9.99986215e-01 -3.17032200e-03 4.18563645e-03 2.69288660e+02] [ 3.17057747e-03 9.99994972e-01 -5.44013337e-05 9.26487541e+00] [-4.18544294e-03 6.76714684e-05 9.99991239e-01 -1.64225452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters 0.05708776450693442 Centerline is valid? [True, True] Translation: X:269.35, Y:9.26, Z:-1.64 [[ 9.99976931e-01 -4.62000813e-03 4.97928260e-03 2.69350534e+02] [ 4.62039097e-03 9.99989324e-01 -6.53871460e-05 9.26059944e+00] [-4.97892735e-03 8.83918700e-05 9.99987601e-01 -1.64301992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters 0.05817148690289253 Centerline is valid? [True, True] Translation: X:269.41, Y:9.26, Z:-1.64 [[ 9.99982356e-01 -4.58127777e-03 3.78159665e-03 2.69411330e+02] [ 4.58149878e-03 9.99989504e-01 -4.97828906e-05 9.25577941e+00] [-3.78132889e-03 6.71073926e-05 9.99992848e-01 -1.64413625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters 0.05788172484785893 Centerline is valid? [True, True] Translation: X:269.47, Y:9.25, Z:-1.65 [[ 9.99988683e-01 -3.40914590e-03 3.31823796e-03 2.69472429e+02] [ 3.40930974e-03 9.99994187e-01 -4.37224469e-05 9.25101862e+00] [-3.31806962e-03 5.50348531e-05 9.99994494e-01 -1.64573849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters 0.05795557846754627 Centerline is valid? [True, True] Translation: X:269.53, Y:9.25, Z:-1.65 [[ 9.99992993e-01 -1.62210177e-03 3.37374976e-03 2.69533069e+02] [ 1.62226130e-03 9.99998683e-01 -4.45516052e-05 9.24836835e+00] [-3.37367305e-03 5.00243967e-05 9.99994308e-01 -1.64577605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters 0.05750189798774195 Centerline is valid? [True, True] Translation: X:269.60, Y:9.25, Z:-1.65 [[ 9.99992486e-01 -6.69777254e-04 3.81819044e-03 2.69595538e+02] [ 6.69975239e-04 9.99999774e-01 -5.05742229e-05 9.25122067e+00] [-3.81815571e-03 5.31319360e-05 9.99992709e-01 -1.64585779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters 0.058402247577170316 Centerline is valid? [True, True] Translation: X:269.66, Y:9.24, Z:-1.65 [[ 9.99993768e-01 -3.95439539e-04 3.50834258e-03 2.69656261e+02] [ 3.95605435e-04 9.99999921e-01 -4.65923695e-05 9.24114718e+00] [-3.50832388e-03 4.79799985e-05 9.99993845e-01 -1.64754351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters 0.05779434267659253 Centerline is valid? [True, True] Translation: X:269.72, Y:9.24, Z:-1.65 [[ 9.99991060e-01 -1.96502709e-03 3.74421729e-03 2.69718359e+02] [ 1.96522666e-03 9.99998068e-01 -4.96216736e-05 9.24219020e+00] [-3.74411255e-03 5.69794656e-05 9.99992989e-01 -1.64688700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters 0.05798490558743691 Centerline is valid? [True, True] Translation: X:269.78, Y:9.24, Z:-1.65 [[ 9.99967020e-01 -6.99390229e-03 4.12839375e-03 2.69779649e+02] [ 6.99419074e-03 9.99975539e-01 -5.54365223e-05 9.23701324e+00] [-4.12790505e-03 8.43094674e-05 9.99991477e-01 -1.64687219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70439141799994 meters 0.05953166830431919 Centerline is valid? [True, True] Translation: X:269.84, Y:9.22, Z:-1.65 [[ 9.99889449e-01 -1.43566598e-02 3.86983314e-03 2.69839101e+02] [ 1.43569690e-02 9.99896932e-01 -5.21176833e-05 9.22154171e+00] [-3.86868605e-03 1.07670996e-04 9.99992511e-01 -1.64785956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76439141799995 meters 0.05984518394567847 Centerline is valid? [True, True] Translation: X:269.90, Y:9.21, Z:-1.65 [[ 9.99741618e-01 -2.23096072e-02 4.35648572e-03 2.69899923e+02] [ 2.23100743e-02 9.99751098e-01 -5.86424799e-05 9.21467683e+00] [-4.35409309e-03 1.55820848e-04 9.99990509e-01 -1.64812255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82439141799995 meters 0.05726252185993456 Centerline is valid? [True, True] Translation: X:269.96, Y:9.22, Z:-1.65 [[ 9.99684109e-01 -2.46949341e-02 4.67350705e-03 2.69960789e+02] [ 2.46954977e-02 9.99695018e-01 -6.29121903e-05 9.22439316e+00] [-4.67052810e-03 1.78306900e-04 9.99989077e-01 -1.64841014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88439141799995 meters 0.05833828525557845 Centerline is valid? [True, True] Translation: X:270.02, Y:9.22, Z:-1.65 [[ 9.99543447e-01 -2.99883137e-02 3.68753238e-03 2.70021067e+02] [ 2.99887007e-02 9.99550237e-01 -4.96696861e-05 9.21502909e+00] [-3.68438435e-03 1.60231314e-04 9.99993200e-01 -1.64969361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94439141799995 meters 0.05839169200923371 Centerline is valid? [True, True] Translation: X:270.08, Y:9.21, Z:-1.65 [[ 9.99457101e-01 -3.27115331e-02 3.93184701e-03 2.70081774e+02] [ 3.27119941e-02 9.99464818e-01 -5.29829183e-05 9.21288703e+00] [-3.92800960e-03 1.81572710e-04 9.99992269e-01 -1.65075576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00439141799995 meters 0.05715785805785558 Centerline is valid? [True, True] Translation: X:270.14, Y:9.22, Z:-1.65 [[ 9.99327573e-01 -3.63965123e-02 4.43802400e-03 2.70142961e+02] [ 3.63971358e-02 9.99337403e-01 -5.97934594e-05 9.21929385e+00] [-4.43290710e-03 2.21284615e-04 9.99990150e-01 -1.65014220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06439141799996 meters 0.05957152218504767 Centerline is valid? [True, True] Translation: X:270.20, Y:9.21, Z:-1.65 [[ 9.99185437e-01 -4.00989544e-02 4.53175491e-03 2.70202309e+02] [ 4.00996429e-02 9.99195684e-01 -6.11289418e-05 9.20690663e+00] [-4.52565874e-03 2.42800902e-04 9.99989730e-01 -1.65058297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12439141799996 meters 0.05969842502109581 Centerline is valid? [True, True] Translation: X:270.26, Y:9.21, Z:-1.65 [[ 9.99098971e-01 -4.22521439e-02 4.00032139e-03 2.70262416e+02] [ 4.22526976e-02 9.99106955e-01 -5.39830116e-05 9.20652706e+00] [-3.99446803e-03 2.22958742e-04 9.99991997e-01 -1.65186705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18439141799996 meters 0.061497470003742075 Centerline is valid? [True, True] Translation: X:270.32, Y:9.20, Z:-1.65 [[ 9.98987464e-01 -4.49156413e-02 2.57518047e-03 2.70322138e+02] [ 4.49158793e-02 9.98990772e-01 -3.46418655e-05 9.20285727e+00] [-2.57102557e-03 1.50273285e-04 9.99996684e-01 -1.65382882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24439141799996 meters 0.05780944592540323 Centerline is valid? [True, True] Translation: X:270.38, Y:9.22, Z:-1.65 [[ 9.98926999e-01 -4.62470928e-02 2.46108037e-03 2.70383664e+02] [ 4.62473146e-02 9.98930020e-01 -3.32253845e-05 9.21692699e+00] [-2.45691049e-03 1.47008092e-04 9.99996971e-01 -1.65398885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30439141799997 meters 0.05627605078996456 Centerline is valid? [True, True] Translation: X:270.45, Y:9.23, Z:-1.65 [[ 9.98901362e-01 -4.68208001e-02 1.97013154e-03 2.70446315e+02] [ 4.68209433e-02 9.98903298e-01 -2.65805478e-05 9.22683569e+00] [-1.96672637e-03 1.18794763e-04 9.99998059e-01 -1.65438682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36439141799997 meters 0.056368148629385856 Centerline is valid? [True, True] Translation: X:270.51, Y:9.23, Z:-1.65 [[ 9.99008048e-01 -4.43337359e-02 4.17603464e-03 2.70507082e+02] [ 4.43343592e-02 9.99016747e-01 -5.67528140e-05 9.22823313e+00] [-4.16941248e-03 2.41838338e-04 9.99991279e-01 -1.65468289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42439141799997 meters 0.056489515059534215 Centerline is valid? [True, True] Translation: X:270.57, Y:9.24, Z:-1.65 [[ 9.99302106e-01 -3.66976742e-02 6.97012323e-03 2.70567323e+02] [ 3.66992259e-02 9.99326352e-01 -9.48082540e-05 9.23686999e+00] [-6.96194857e-03 3.50540215e-04 9.99975704e-01 -1.65446634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.484391418 meters 0.05782793392219725 Centerline is valid? [True, True] Translation: X:270.63, Y:9.24, Z:-1.65 [[ 9.99708372e-01 -2.26972505e-02 8.24651138e-03 2.70627446e+02] [ 2.26989471e-02 9.99742339e-01 -1.12189038e-04 9.23895748e+00] [-8.24184020e-03 2.99343446e-04 9.99965991e-01 -1.65448291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters 0.05710556728039862 Centerline is valid? [True, True] Translation: X:270.69, Y:9.25, Z:-1.65 [[ 9.99877903e-01 -1.29244481e-02 8.78280938e-03 2.70688203e+02] [ 1.29259963e-02 9.99916449e-01 -1.19521937e-04 9.24950425e+00] [-8.78053081e-03 2.33033905e-04 9.99961423e-01 -1.65477654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters 0.056631101155621456 Centerline is valid? [True, True] Translation: X:270.75, Y:9.26, Z:-1.65 [[ 9.99967595e-01 -1.25695147e-03 7.95166696e-03 2.70747955e+02] [ 1.25785190e-03 9.99999203e-01 -1.08238190e-04 9.25677032e+00] [-7.95152458e-03 1.18236702e-04 9.99968379e-01 -1.65474664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters 0.05676183239646542 Centerline is valid? [True, True] Translation: X:270.81, Y:9.26, Z:-1.66 [[ 9.99967431e-01 4.37424148e-03 6.78261945e-03 2.70808116e+02] [-4.37371570e-03 9.99990431e-01 -9.23505910e-05 9.26252380e+00] [-6.78295851e-03 6.26823341e-05 9.99976994e-01 -1.65684977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters 0.056144052701996204 Centerline is valid? [True, True] Translation: X:270.87, Y:9.26, Z:-1.66 [[ 9.99964519e-01 5.43083781e-03 6.43947641e-03 2.70870162e+02] [-5.43038540e-03 9.99985252e-01 -8.77383348e-05 9.26473691e+00] [-6.43985793e-03 5.27663830e-05 9.99979263e-01 -1.65813687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters 0.05596008621202009 Centerline is valid? [True, True] Translation: X:270.93, Y:9.27, Z:-1.66 [[ 9.99969553e-01 4.59353584e-03 6.30818225e-03 2.70932545e+02] [-4.59308359e-03 9.99989448e-01 -8.61778282e-05 9.26610224e+00] [-6.30851154e-03 5.72011960e-05 9.99980100e-01 -1.65957544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters 0.056105532883059486 Centerline is valid? [True, True] Translation: X:270.99, Y:9.27, Z:-1.66 [[ 9.99966038e-01 2.44830083e-03 7.86949972e-03 2.70994242e+02] [-2.44752276e-03 9.99996999e-01 -1.08500960e-04 9.26557927e+00] [-7.86974175e-03 8.92364951e-05 9.99969029e-01 -1.66021205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters 0.05589061512007556 Centerline is valid? [True, True] Translation: X:271.06, Y:9.26, Z:-1.66 [[ 9.99968314e-01 -6.14110022e-04 7.93682172e-03 2.71055423e+02] [ 6.15002830e-04 9.99999805e-01 -1.10049167e-04 9.26217375e+00] [-7.93675259e-03 1.14926848e-04 9.99968497e-01 -1.66158733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters 0.056443468741635305 Centerline is valid? [True, True] Translation: X:271.12, Y:9.26, Z:-1.66 [[ 9.99963003e-01 -3.01446711e-03 8.05637010e-03 2.71117656e+02] [ 3.01547127e-03 9.99995447e-01 -1.12496759e-04 9.25895306e+00] [-8.05599430e-03 1.36786350e-04 9.99967541e-01 -1.66244044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters 0.055877853835047585 Centerline is valid? [True, True] Translation: X:271.18, Y:9.26, Z:-1.66 [[ 9.99946668e-01 -5.73006078e-03 8.59231146e-03 2.71179283e+02] [ 5.73130883e-03 9.99983569e-01 -1.20635937e-04 9.25879018e+00] [-8.59147903e-03 1.69874694e-04 9.99963078e-01 -1.66405239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters 0.0558236942833782 Centerline is valid? [True, True] Translation: X:271.24, Y:9.26, Z:-1.66 [[ 9.99946704e-01 -6.04814307e-03 8.36715412e-03 2.71240619e+02] [ 6.04934353e-03 9.99981696e-01 -1.18171990e-04 9.25622713e+00] [-8.36628625e-03 1.68781481e-04 9.99964988e-01 -1.66469768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters 0.05599555623896171 Centerline is valid? [True, True] Translation: X:271.30, Y:9.26, Z:-1.67 [[ 9.99952487e-01 -3.74817814e-03 8.99864360e-03 2.71301803e+02] [ 3.74947566e-03 9.99992963e-01 -1.27325220e-04 9.25544694e+00] [-8.99810304e-03 1.61059366e-04 9.99959503e-01 -1.66536492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20439141799994 meters 0.05525789238349763 Centerline is valid? [True, True] Translation: X:271.36, Y:9.26, Z:-1.67 [[ 9.99956774e-01 7.90980745e-04 9.26419730e-03 2.71363433e+02] [-7.89798116e-04 9.99999680e-01 -1.31313616e-04 9.25693722e+00] [-9.26429820e-03 1.23991094e-04 9.99957078e-01 -1.66528130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26439141799995 meters 0.05574232546189712 Centerline is valid? [True, True] Translation: X:271.42, Y:9.26, Z:-1.67 [[ 9.99900609e-01 1.02710171e-02 9.65807911e-03 2.71424215e+02] [-1.02701721e-02 9.99947251e-01 -1.37080727e-04 9.26090663e+00] [-9.65897762e-03 3.78769673e-05 9.99953350e-01 -1.66662211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32439141799995 meters 0.05620697608569069 Centerline is valid? [True, True] Translation: X:271.49, Y:9.26, Z:-1.67 [[ 9.99796684e-01 1.76700508e-02 9.71387085e-03 2.71485754e+02] [-1.76695438e-02 9.99843872e-01 -1.38018285e-04 9.26151127e+00] [-9.71479304e-03 -3.36494428e-05 9.99952810e-01 -1.66783303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38439141799995 meters 0.05581051985148465 Centerline is valid? [True, True] Translation: X:271.55, Y:9.26, Z:-1.67 [[ 9.99797539e-01 1.90871664e-02 6.36882557e-03 2.71545438e+02] [-1.90869766e-02 9.99817823e-01 -9.05899735e-05 9.25987505e+00] [-6.36939443e-03 -3.09899921e-05 9.99979715e-01 -1.67019818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44439141799995 meters 0.05544900697491586 Centerline is valid? [True, True] Translation: X:271.60, Y:9.26, Z:-1.67 [[ 9.99845052e-01 1.64590470e-02 6.24278590e-03 2.71604962e+02] [-1.64588137e-02 9.99864541e-01 -8.87424135e-05 9.25526002e+00] [-6.24340087e-03 -1.40201871e-05 9.99980510e-01 -1.67144934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50439141799995 meters 0.055409850799027584 Centerline is valid? [True, True] Translation: X:271.66, Y:9.25, Z:-1.67 [[ 9.99937647e-01 9.71870128e-03 5.49987538e-03 2.71664243e+02] [-9.71841869e-03 9.99952772e-01 -7.81033826e-05 9.24713577e+00] [-5.50037470e-03 2.46484209e-05 9.99984873e-01 -1.67126898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56439141799996 meters 0.05635075722483356 Centerline is valid? [True, True] Translation: X:271.72, Y:9.24, Z:-1.67 [[ 9.99982327e-01 8.66398872e-04 5.88168698e-03 2.71724281e+02] [-8.65923197e-04 9.99999622e-01 -8.34199707e-05 9.23576271e+00] [-5.88175703e-03 7.83254072e-05 9.99982699e-01 -1.67161987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62439141799996 meters 0.056531221700967554 Centerline is valid? [True, True] Translation: X:271.79, Y:9.23, Z:-1.67 [[ 9.99963744e-01 -4.97762106e-03 6.90892405e-03 2.71785696e+02] [ 4.97841691e-03 9.99987603e-01 -9.79978858e-05 9.23325978e+00] [-6.90835060e-03 1.32389837e-04 9.99976128e-01 -1.67170238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68439141799996 meters 0.05616754781172505 Centerline is valid? [True, True] Translation: X:271.85, Y:9.23, Z:-1.67 [[ 9.99883712e-01 -1.33982139e-02 7.28361806e-03 2.71846714e+02] [ 1.33993223e-02 9.99910220e-01 -1.03392226e-04 9.22965967e+00] [-7.28157886e-03 2.00975748e-04 9.99973469e-01 -1.67199662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74439141799996 meters 0.05652832281021981 Centerline is valid? [True, True] Translation: X:271.91, Y:9.22, Z:-1.67 [[ 9.99770062e-01 -1.99040906e-02 7.97815815e-03 2.71906306e+02] [ 1.99056280e-02 9.99801857e-01 -1.13345091e-04 9.22098197e+00] [-7.97432130e-03 2.72129277e-04 9.99968168e-01 -1.67182924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80439141799997 meters 0.05756895675388799 Centerline is valid? [True, True] Translation: X:271.97, Y:9.21, Z:-1.67 [[ 9.99598063e-01 -2.68828035e-02 9.00151371e-03 2.71967121e+02] [ 2.68850433e-02 9.99638524e-01 -1.27882142e-04 9.21492603e+00] [-8.99482205e-03 3.69836827e-04 9.99959477e-01 -1.67143114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86439141799997 meters 0.055864444706099525 Centerline is valid? [True, True] Translation: X:272.03, Y:9.22, Z:-1.67 [[ 9.99272342e-01 -3.70221319e-02 9.17326807e-03 2.72027767e+02] [ 3.70248843e-02 9.99314335e-01 -1.30342894e-04 9.22074209e+00] [-9.16215272e-03 4.69887238e-04 9.99957916e-01 -1.67224620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92439141799997 meters 0.05518446142961968 Centerline is valid? [True, True] Translation: X:272.09, Y:9.22, Z:-1.67 [[ 9.99047876e-01 -4.28181257e-02 8.36353706e-03 2.72088285e+02] [ 4.28206165e-02 9.99082770e-01 -1.18882464e-04 9.22103568e+00] [-8.35077545e-03 4.76901086e-04 9.99965018e-01 -1.67268421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.984391418 meters 0.06092319068299629 Centerline is valid? [True, True] Translation: X:272.15, Y:9.20, Z:-1.67 [[ 9.99007029e-01 -4.38183852e-02 8.05637843e-03 2.72147758e+02] [ 4.38207300e-02 9.99039404e-01 -1.14673595e-04 9.20246583e+00] [-8.04361469e-03 4.67596111e-04 9.99967540e-01 -1.67315195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters 0.059325581653861766 Centerline is valid? [True, True] Translation: X:272.21, Y:9.21, Z:-1.67 [[ 9.99082197e-01 -4.23299181e-02 6.55297545e-03 2.72207837e+02] [ 4.23314388e-02 9.99103619e-01 -9.34793400e-05 9.20690851e+00] [-6.54314451e-03 3.70790423e-04 9.99978525e-01 -1.67441718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters 0.05504966037996289 Centerline is valid? [True, True] Translation: X:272.27, Y:9.23, Z:-1.68 [[ 9.99256119e-01 -3.81600930e-02 5.56918066e-03 2.72268437e+02] [ 3.81611268e-02 9.99271596e-01 -7.94435792e-05 9.22859722e+00] [-5.56209247e-03 2.91910692e-04 9.99984489e-01 -1.67509792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters 0.05660694851752657 Centerline is valid? [True, True] Translation: X:272.33, Y:9.23, Z:-1.67 [[ 9.99493300e-01 -3.11668900e-02 6.46283779e-03 2.72327948e+02] [ 3.11681365e-02 9.99514151e-01 -9.22219216e-05 9.22572260e+00] [-6.45682356e-03 2.93609803e-04 9.99979111e-01 -1.67425806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters 0.055376530272814486 Centerline is valid? [True, True] Translation: X:272.39, Y:9.24, Z:-1.67 [[ 9.99648694e-01 -2.53200220e-02 7.83480977e-03 2.72388637e+02] [ 2.53216752e-02 9.99679349e-01 -1.11868382e-04 9.23683660e+00] [-7.82946502e-03 3.10219590e-04 9.99969301e-01 -1.67403078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters 0.056711960259474996 Centerline is valid? [True, True] Translation: X:272.45, Y:9.24, Z:-1.67 [[ 9.99850264e-01 -1.49470381e-02 8.71986454e-03 2.72448605e+02] [ 1.49486927e-02 9.99888254e-01 -1.24591325e-04 9.24259923e+00] [-8.71702786e-03 2.54923245e-04 9.99961973e-01 -1.67253567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters 0.056062652675436614 Centerline is valid? [True, True] Translation: X:272.51, Y:9.24, Z:-1.67 [[ 9.99936650e-01 -7.59470391e-03 8.30759591e-03 2.72508628e+02] [ 7.59595227e-03 9.99971143e-01 -1.18724178e-04 9.24348793e+00] [-8.30645451e-03 1.81820759e-04 9.99965484e-01 -1.67257339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters 0.05547673736129357 Centerline is valid? [True, True] Translation: X:272.57, Y:9.26, Z:-1.67 [[ 9.99968370e-01 1.16328204e-03 7.86808726e-03 2.72569738e+02] [-1.16243359e-03 9.99999318e-01 -1.12406952e-04 9.25571506e+00] [-7.86821266e-03 1.03257268e-04 9.99969040e-01 -1.67458703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters 0.05554560774998147 Centerline is valid? [True, True] Translation: X:272.63, Y:9.26, Z:-1.68 [[ 9.99946200e-01 7.79907657e-03 6.83899879e-03 2.72630156e+02] [-7.79859126e-03 9.99969586e-01 -9.76267380e-05 9.26079301e+00] [-6.83955218e-03 4.42869295e-05 9.99976609e-01 -1.67598955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters 0.05478159582134149 Centerline is valid? [True, True] Translation: X:272.69, Y:9.27, Z:-1.68 [[ 9.99892359e-01 1.29904149e-02 6.82046361e-03 2.72691517e+02] [-1.29900522e-02 9.99915621e-01 -9.74736980e-05 9.26744584e+00] [-6.82115433e-03 8.86502750e-06 9.99976736e-01 -1.67694881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters 0.05543607006680465 Centerline is valid? [True, True] Translation: X:272.75, Y:9.27, Z:-1.68 [[ 9.99847912e-01 1.56263515e-02 7.74407971e-03 2.72750264e+02] [-1.56259624e-02 9.99877901e-01 -1.10760000e-04 9.26937105e+00] [-7.74486494e-03 -1.02655440e-05 9.99970008e-01 -1.67665017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters 0.05496535187078539 Centerline is valid? [True, True] Translation: X:272.81, Y:9.27, Z:-1.68 [[ 9.99854494e-01 1.41275875e-02 9.56041061e-03 2.72810205e+02] [-1.41269276e-02 9.99900201e-01 -1.36556184e-04 9.26762317e+00] [-9.56138569e-03 1.47708521e-06 9.99954289e-01 -1.67634846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70439141799994 meters 0.05503523894075318 Centerline is valid? [True, True] Translation: X:272.87, Y:9.26, Z:-1.68 [[ 9.99944638e-01 5.16893512e-03 9.16528882e-03 2.72870808e+02] [-5.16795229e-03 9.99986637e-01 -1.30913588e-04 9.26022078e+00] [-9.16584304e-03 8.35405655e-05 9.99957989e-01 -1.67737220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76439141799995 meters 0.05555617698951441 Centerline is valid? [True, True] Translation: X:272.93, Y:9.25, Z:-1.68 [[ 9.99947843e-01 -4.54160878e-03 9.14797817e-03 2.72930777e+02] [ 4.54299588e-03 9.99989672e-01 -1.30853889e-04 9.24948324e+00] [-9.14728941e-03 1.72406291e-04 9.99958148e-01 -1.67757508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82439141799995 meters 0.05486657653185243 Centerline is valid? [True, True] Translation: X:272.99, Y:9.25, Z:-1.68 [[ 9.99768548e-01 -1.96981880e-02 8.65053108e-03 2.72990730e+02] [ 1.96999951e-02 9.99805929e-01 -1.23730611e-04 9.24726322e+00] [-8.64641499e-03 2.94117393e-04 9.99962576e-01 -1.68053852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88439141799995 meters 0.05576188780930548 Centerline is valid? [True, True] Translation: X:273.05, Y:9.24, Z:-1.68 [[ 9.99510664e-01 -3.01176709e-02 8.44733750e-03 2.73050944e+02] [ 3.01197653e-02 9.99546290e-01 -1.20800056e-04 9.23551139e+00] [-8.43986663e-03 3.75172767e-04 9.99964313e-01 -1.68190285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94439141799995 meters 0.0573642906007828 Centerline is valid? [True, True] Translation: X:273.11, Y:9.23, Z:-1.68 [[ 9.99416533e-01 -3.32170224e-02 7.95134028e-03 2.73110746e+02] [ 3.32189760e-02 9.99448091e-01 -1.13713241e-04 9.22809746e+00] [-7.94317465e-03 3.77782275e-04 9.99968381e-01 -1.68253635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00439141799995 meters 0.05417727328594987 Centerline is valid? [True, True] Translation: X:273.17, Y:9.24, Z:-1.68 [[ 9.99369550e-01 -3.46394226e-02 7.78545561e-03 2.73171920e+02] [ 3.46413385e-02 9.99399803e-01 -1.11331596e-04 9.24209147e+00] [-7.77692634e-03 3.80960010e-04 9.99969687e-01 -1.68388273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06439141799996 meters 0.05641132745094389 Centerline is valid? [True, True] Translation: X:273.23, Y:9.23, Z:-1.68 [[ 9.99365819e-01 -3.46212149e-02 8.32658005e-03 2.73233160e+02] [ 3.46234087e-02 9.99400423e-01 -1.19423400e-04 9.23188119e+00] [-8.31745304e-03 4.07642248e-04 9.99965326e-01 -1.68415021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12439141799996 meters 0.05771046009303397 Centerline is valid? [True, True] Translation: X:273.29, Y:9.23, Z:-1.68 [[ 9.99292615e-01 -3.65745603e-02 8.75047477e-03 2.73292426e+02] [ 3.65770637e-02 9.99330827e-01 -1.26170528e-04 9.22754115e+00] [-8.74000456e-03 4.46147950e-04 9.99961706e-01 -1.68422128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18439141799996 meters 0.05357761814542881 Centerline is valid? [True, True] Translation: X:273.35, Y:9.25, Z:-1.69 [[ 9.99214632e-01 -3.87518057e-02 8.27143894e-03 2.73353228e+02] [ 3.87541168e-02 9.99248770e-01 -1.19248284e-04 9.24580637e+00] [-8.26060410e-03 4.39706941e-04 9.99965784e-01 -1.68614177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24439141799996 meters 0.05320439469820984 Centerline is valid? [True, True] Translation: X:273.41, Y:9.25, Z:-1.69 [[ 9.99122610e-01 -4.15384214e-02 5.34503399e-03 2.73412560e+02] [ 4.15394262e-02 9.99136863e-01 -7.70733332e-05 9.24915175e+00] [-5.33721899e-03 2.99035355e-04 9.99985712e-01 -1.68815087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30439141799997 meters 0.056505280978387314 Centerline is valid? [True, True] Translation: X:273.47, Y:9.23, Z:-1.69 [[ 9.99075820e-01 -4.28663516e-02 3.15950322e-03 2.73471989e+02] [ 4.28667092e-02 9.99080799e-01 -4.55371881e-05 9.23257862e+00] [-3.15464699e-03 1.80932609e-04 9.99995008e-01 -1.68953073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36439141799997 meters 0.05810995362817258 Centerline is valid? [True, True] Translation: X:273.53, Y:9.23, Z:-1.69 [[ 9.99060460e-01 -4.32919271e-02 2.00177073e-03 2.73532596e+02] [ 4.32920708e-02 9.99062458e-01 -2.84621727e-05 9.22925923e+00] [-1.99866180e-03 1.15096231e-04 9.99997996e-01 -1.68978870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42439141799997 meters 0.05346953063419264 Centerline is valid? [True, True] Translation: X:273.59, Y:9.25, Z:-1.69 [[ 9.99202689e-01 -3.98314060e-02 2.72851761e-03 2.73593399e+02] [ 3.98316621e-02 9.99206404e-01 -3.95926323e-05 9.25496122e+00] [-2.72477524e-03 1.48242456e-04 9.99996277e-01 -1.68756867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.484391418 meters 0.053834293059114136 Centerline is valid? [True, True] Translation: X:273.65, Y:9.26, Z:-1.69 [[ 9.99401380e-01 -3.41581330e-02 5.48672322e-03 2.73652652e+02] [ 3.41590836e-02 9.99416405e-01 -7.96105796e-05 9.25806521e+00] [-5.48080185e-03 2.66984360e-04 9.99984945e-01 -1.68610062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters 0.05511312505030756 Centerline is valid? [True, True] Translation: X:273.71, Y:9.25, Z:-1.69 [[ 9.99484463e-01 -3.13232207e-02 7.04728920e-03 2.73711953e+02] [ 3.13247181e-02 9.99509255e-01 -1.02176084e-04 9.25396927e+00] [-7.04063030e-03 3.22877756e-04 9.99975162e-01 -1.68518474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters 0.053178474502415904 Centerline is valid? [True, True] Translation: X:273.77, Y:9.27, Z:-1.69 [[ 9.99495253e-01 -3.06042845e-02 8.52157459e-03 2.73774358e+02] [ 3.06064499e-02 9.99531505e-01 -1.23782928e-04 9.26749737e+00] [-8.51379399e-03 3.84535594e-04 9.99963683e-01 -1.68525384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters 0.05451713200561814 Centerline is valid? [True, True] Translation: X:273.84, Y:9.26, Z:-1.69 [[ 9.99475074e-01 -3.12304294e-02 8.61611672e-03 2.73835674e+02] [ 3.12326747e-02 9.99512133e-01 -1.26128265e-04 9.25971116e+00] [-8.60797416e-03 3.95166427e-04 9.99962873e-01 -1.68552088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters 0.05430212457051553 Centerline is valid? [True, True] Translation: X:273.90, Y:9.26, Z:-1.69 [[ 9.99385288e-01 -3.43818485e-02 6.85081880e-03 2.73896139e+02] [ 3.43833453e-02 9.99408713e-01 -1.00795404e-04 9.26104087e+00] [-6.84330247e-03 3.36287513e-04 9.99976528e-01 -1.68693410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters 0.056742175050165516 Centerline is valid? [True, True] Translation: X:273.96, Y:9.26, Z:-1.69 [[ 9.99296778e-01 -3.73106683e-02 3.72327450e-03 2.73956331e+02] [ 3.73111306e-02 9.99303696e-01 -5.47760743e-05 9.25574354e+00] [-3.71863824e-03 1.93657136e-04 9.99993067e-01 -1.68986899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters 0.05293599120543452 Centerline is valid? [True, True] Translation: X:274.02, Y:9.28, Z:-1.69 [[ 9.99289439e-01 -3.76157788e-02 2.38126887e-03 2.74018501e+02] [ 3.76159678e-02 9.99292268e-01 -3.46364763e-05 9.27686839e+00] [-2.37828069e-03 1.24185598e-04 9.99997164e-01 -1.69047567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters 0.0522832772491077 Centerline is valid? [True, True] Translation: X:274.08, Y:9.28, Z:-1.69 [[ 9.99463685e-01 -3.26174935e-02 2.90543370e-03 2.74079177e+02] [ 3.26177563e-02 9.99467899e-01 -4.30840128e-05 9.28296000e+00] [-2.90248242e-03 1.37829635e-04 9.99995778e-01 -1.69068972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters 0.052619844172778346 Centerline is valid? [True, True] Translation: X:274.14, Y:9.28, Z:-1.69 [[ 9.99745983e-01 -2.18883563e-02 5.37310809e-03 2.74138668e+02] [ 2.18891002e-02 9.99760402e-01 -7.96873877e-05 9.28236146e+00] [-5.37007648e-03 1.97279647e-04 9.99985562e-01 -1.68951856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters 0.05342042973684483 Centerline is valid? [True, True] Translation: X:274.20, Y:9.29, Z:-1.69 [[ 9.99892709e-01 -1.30719913e-02 6.61011840e-03 2.74197872e+02] [ 1.30729250e-02 9.99914541e-01 -9.80603064e-05 9.28551099e+00] [-6.60827167e-03 1.84463367e-04 9.99978148e-01 -1.68910602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters 0.05316504140884178 Centerline is valid? [True, True] Translation: X:274.26, Y:9.29, Z:-1.69 [[ 9.99972021e-01 -8.37220372e-04 7.43339230e-03 2.74258850e+02] [ 8.38062802e-04 9.99999643e-01 -1.10216335e-04 9.29189872e+00] [-7.43329737e-03 1.16442901e-04 9.99972366e-01 -1.68881496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters 0.05407536184414762 Centerline is valid? [True, True] Translation: X:274.32, Y:9.30, Z:-1.69 [[ 9.99949843e-01 8.00093642e-03 6.02469938e-03 2.74319946e+02] [-8.00054340e-03 9.99967991e-01 -8.93334965e-05 9.29798745e+00] [-6.02522129e-03 4.11281469e-05 9.99981847e-01 -1.69067157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20439141799994 meters 0.05373321751037721 Centerline is valid? [True, True] Translation: X:274.38, Y:9.30, Z:-1.69 [[ 9.99909081e-01 1.27514296e-02 4.38531314e-03 2.74380034e+02] [-1.27512666e-02 9.99918697e-01 -6.51379720e-05 9.29982973e+00] [-4.38578720e-03 9.21375289e-06 9.99990382e-01 -1.69219003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26439141799995 meters 0.05442532598699217 Centerline is valid? [True, True] Translation: X:274.44, Y:9.30, Z:-1.70 [[ 9.99810679e-01 1.93888786e-02 1.63606228e-03 2.74437744e+02] [-1.93888645e-02 9.99812018e-01 -2.44848333e-05 9.30276381e+00] [-1.63622946e-03 -7.24119199e-06 9.99998661e-01 -1.69510544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32439141799995 meters 0.05453836255205376 Centerline is valid? [True, True] Translation: X:274.50, Y:9.31, Z:-1.69 [[ 9.99609279e-01 2.78435452e-02 2.45501597e-03 2.74497635e+02] [-2.78435402e-02 9.99612293e-01 -3.62016907e-05 9.30550705e+00] [-2.45507212e-03 -3.21687900e-05 9.99996986e-01 -1.69386157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38439141799995 meters 0.055017793382059116 Centerline is valid? [True, True] Translation: X:274.56, Y:9.31, Z:-1.69 [[ 9.99342567e-01 3.59606996e-02 4.61097341e-03 2.74557467e+02] [-3.59607688e-02 9.99353200e-01 -6.79113625e-05 9.31046953e+00] [-4.61043317e-03 -9.79474335e-05 9.99989367e-01 -1.69133048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44439141799995 meters 0.05518844651858326 Centerline is valid? [True, True] Translation: X:274.62, Y:9.30, Z:-1.69 [[ 9.99267491e-01 3.77395814e-02 6.34076989e-03 2.74616467e+02] [-3.77397487e-02 9.99287598e-01 -9.33030865e-05 9.29994936e+00] [-6.33977393e-03 -1.46064321e-04 9.99979893e-01 -1.69126573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50439141799995 meters 0.054778092719287026 Centerline is valid? [True, True] Translation: X:274.68, Y:9.30, Z:-1.69 [[ 9.99431823e-01 3.31629443e-02 6.02084056e-03 2.74676588e+02] [-3.31630126e-02 9.99449952e-01 -8.85103603e-05 9.30138014e+00] [-6.02046407e-03 -1.11209141e-04 9.99981871e-01 -1.69170158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56439141799996 meters 0.054269279715689324 Centerline is valid? [True, True] Translation: X:274.74, Y:9.29, Z:-1.69 [[ 9.99801600e-01 1.94899396e-02 4.11130333e-03 2.74736620e+02] [-1.94898563e-02 9.99810053e-01 -6.03130635e-05 9.28646088e+00] [-4.11169789e-03 -1.98276138e-05 9.99991547e-01 -1.69387652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62439141799996 meters 0.05389205263080437 Centerline is valid? [True, True] Translation: X:274.80, Y:9.27, Z:-1.69 [[ 9.99968615e-01 7.49682274e-03 2.56260098e-03 2.74795295e+02] [-7.49675072e-03 9.99971898e-01 -3.77087182e-05 9.27409834e+00] [-2.56281166e-03 1.84963540e-05 9.99996716e-01 -1.69473034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68439141799996 meters 0.05435332823391312 Centerline is valid? [True, True] Translation: X:274.86, Y:9.26, Z:-1.70 [[ 9.99949508e-01 -9.98795299e-03 1.10544484e-03 2.74855929e+02] [ 9.98797697e-03 9.99950119e-01 -1.61717774e-05 9.25697107e+00] [-1.10522818e-03 2.72121185e-05 9.99999389e-01 -1.69644416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74439141799996 meters 0.05460636686770088 Centerline is valid? [True, True] Translation: X:274.92, Y:9.25, Z:-1.70 [[ 9.99749395e-01 -2.23564003e-02 1.15655975e-03 2.74916559e+02] [ 2.23564349e-02 9.99750064e-01 -1.69160878e-05 9.25329888e+00] [-1.15589250e-03 4.27684012e-05 9.99999331e-01 -1.69556132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80439141799997 meters 0.05538910711309254 Centerline is valid? [True, True] Translation: X:274.98, Y:9.24, Z:-1.70 [[ 9.99613348e-01 -2.76086131e-02 3.30433926e-03 2.74976472e+02] [ 2.76089235e-02 9.99618800e-01 -4.83413443e-05 9.23713981e+00] [-3.30174501e-03 1.39551903e-04 9.99994539e-01 -1.69552537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86439141799997 meters 0.05405075265489428 Centerline is valid? [True, True] Translation: X:275.04, Y:9.24, Z:-1.69 [[ 9.99420040e-01 -3.33770378e-02 6.74954880e-03 2.75037257e+02] [ 3.33784654e-02 9.99442779e-01 -9.89450925e-05 9.23514861e+00] [-6.74248531e-03 3.24177289e-04 9.99977217e-01 -1.69352094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92439141799997 meters 0.05640539287490811 Centerline is valid? [True, True] Translation: X:275.10, Y:9.22, Z:-1.69 [[ 9.99281022e-01 -3.71540984e-02 7.55066373e-03 2.75096850e+02] [ 3.71559930e-02 9.99309472e-01 -1.10746858e-04 9.22152684e+00] [-7.54133508e-03 3.91219642e-04 9.99971487e-01 -1.69348334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.984391418 meters 0.05637196483748142 Centerline is valid? [True, True] Translation: X:275.16, Y:9.22, Z:-1.69 [[ 9.99162554e-01 -4.04181442e-02 6.36894500e-03 2.75158201e+02] [ 4.04195592e-02 9.99182791e-01 -9.35716201e-05 9.21889982e+00] [-6.35995825e-03 3.50923209e-04 9.99979714e-01 -1.69474165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters 0.054420894543391204 Centerline is valid? [True, True] Translation: X:275.22, Y:9.22, Z:-1.70 [[ 9.99041442e-01 -4.37025319e-02 2.50712289e-03 2.75219331e+02] [ 4.37027614e-02 9.99044577e-01 -3.68020013e-05 9.22198392e+00] [-2.50311919e-03 1.46334918e-04 9.99996856e-01 -1.69780095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters 0.05379200625031413 Centerline is valid? [True, True] Translation: X:275.28, Y:9.23, Z:-1.70 [[ 9.98994694e-01 -4.48270291e-02 3.73544841e-04 2.75280676e+02] [ 4.48270342e-02 9.98994763e-01 -5.40675152e-06 9.22940244e+00] [-3.72926972e-04 2.21462235e-05 9.99999930e-01 -1.69891391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters 0.05359613862328895 Centerline is valid? [True, True] Translation: X:275.34, Y:9.23, Z:-1.70 [[ 9.99130917e-01 -4.16646886e-02 -1.21051712e-03 2.75341806e+02] [ 4.16647408e-02 9.99131648e-01 1.78716376e-05 9.22841567e+00] [ 1.20872134e-03 -6.82919875e-05 9.99999267e-01 -1.69974503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters 0.053528855462396635 Centerline is valid? [True, True] Translation: X:275.40, Y:9.23, Z:-1.70 [[ 9.99498792e-01 -3.16474092e-02 7.78162474e-04 2.75402051e+02] [ 3.16474277e-02 9.99499095e-01 -1.14574350e-05 9.23253905e+00] [-7.77410090e-04 3.60785331e-05 9.99999697e-01 -1.69883723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters 0.05580275037189875 Centerline is valid? [True, True] Translation: X:275.46, Y:9.22, Z:-1.70 [[ 9.99765408e-01 -2.13372471e-02 3.72164801e-03 2.75461567e+02] [ 2.13375990e-02 9.99772326e-01 -5.48782546e-05 9.22285741e+00] [-3.71962974e-03 1.34276413e-04 9.99993073e-01 -1.69867509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters 0.0546143026851203 Centerline is valid? [True, True] Translation: X:275.52, Y:9.24, Z:-1.70 [[ 9.99965112e-01 -4.43607815e-03 7.07788692e-03 2.75522331e+02] [ 4.43692783e-03 9.99990151e-01 -1.04349711e-04 9.23515474e+00] [-7.07735431e-03 1.35750144e-04 9.99974946e-01 -1.69555573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters 0.05487369270571973 Centerline is valid? [True, True] Translation: X:275.58, Y:9.24, Z:-1.69 [[ 9.99955488e-01 5.62660409e-03 7.57385564e-03 2.75582332e+02] [-5.62591975e-03 9.99984168e-01 -1.11657691e-04 9.24105258e+00] [-7.57436399e-03 6.90428166e-05 9.99971312e-01 -1.69481923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters 0.0546070623374953 Centerline is valid? [True, True] Translation: X:275.64, Y:9.25, Z:-1.70 [[ 9.99869238e-01 1.46855559e-02 6.77061295e-03 2.75642739e+02] [-1.46852166e-02 9.99892161e-01 -9.98217384e-05 9.24999084e+00] [-6.77134876e-03 3.80767596e-07 9.99977074e-01 -1.69735687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters 0.05472564296922078 Centerline is valid? [True, True] Translation: X:275.70, Y:9.25, Z:-1.70 [[ 9.99838963e-01 1.73234405e-02 4.68460536e-03 2.75701866e+02] [-1.73233067e-02 9.99849938e-01 -6.91362298e-05 9.25053607e+00] [-4.68510005e-03 -1.20277591e-05 9.99989025e-01 -1.69911685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters 0.055235727259320834 Centerline is valid? [True, True] Translation: X:275.76, Y:9.25, Z:-1.70 [[ 9.99841842e-01 1.74396067e-02 3.48575012e-03 2.75760441e+02] [-1.74395334e-02 9.99847918e-01 -5.14158689e-05 9.24922183e+00] [-3.48611667e-03 -9.38211844e-06 9.99993923e-01 -1.69998765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64439141799994 meters 0.05506845103424427 Centerline is valid? [True, True] Translation: X:275.82, Y:9.25, Z:-1.70 [[ 9.99884557e-01 1.47495978e-02 3.65002584e-03 2.75818118e+02] [-1.47495000e-02 9.99891219e-01 -5.37227990e-05 9.24592389e+00] [-3.65042118e-03 -1.19459069e-07 9.99993337e-01 -1.70083374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70439141799994 meters 0.054471373447078204 Centerline is valid? [True, True] Translation: X:275.88, Y:9.24, Z:-1.70 [[ 9.99945892e-01 9.27811774e-03 4.70421785e-03 2.75876392e+02] [-9.27789606e-03 9.99956957e-01 -6.89448878e-05 9.23900925e+00] [-4.70465504e-03 2.52959131e-05 9.99988933e-01 -1.70075292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76439141799995 meters 0.05397723664694014 Centerline is valid? [True, True] Translation: X:275.94, Y:9.23, Z:-1.70 [[ 9.99973670e-01 4.60157005e-03 5.61121446e-03 2.75936619e+02] [-4.60118203e-03 9.99989411e-01 -8.20595124e-05 9.23475315e+00] [-5.61153264e-03 5.62391326e-05 9.99984254e-01 -1.70030338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82439141799995 meters 0.05522653493115862 Centerline is valid? [True, True] Translation: X:276.00, Y:9.22, Z:-1.70 [[ 9.99968814e-01 -3.37859038e-03 7.13832379e-03 2.75996022e+02] [ 3.37942159e-03 9.99994284e-01 -1.04385210e-04 9.22185795e+00] [-7.13793031e-03 1.28505360e-04 9.99974516e-01 -1.70040838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88439141799995 meters 0.054670387537144656 Centerline is valid? [True, True] Translation: X:276.06, Y:9.21, Z:-1.70 [[ 9.99898498e-01 -1.20057405e-02 7.67179062e-03 2.76056884e+02] [ 1.20069542e-02 9.99927908e-01 -1.12155784e-04 9.21382196e+00] [-7.66989103e-03 2.04259239e-04 9.99970565e-01 -1.70185606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94439141799995 meters 0.05487937466012705 Centerline is valid? [True, True] Translation: X:276.12, Y:9.21, Z:-1.70 [[ 9.99790308e-01 -1.87049477e-02 8.33458882e-03 2.76117676e+02] [ 1.87066133e-02 9.99825009e-01 -1.21920924e-04 9.20593556e+00] [-8.33084981e-03 2.77807288e-04 9.99965259e-01 -1.70348873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00439141799995 meters 0.05641363449804337 Centerline is valid? [True, True] Translation: X:276.18, Y:9.20, Z:-1.71 [[ 9.99731773e-01 -2.17733869e-02 7.89310545e-03 2.76176774e+02] [ 2.17749768e-02 9.99762890e-01 -1.15538242e-04 9.19602676e+00] [-7.88871826e-03 2.87379440e-04 9.99968842e-01 -1.70535794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06439141799996 meters 0.055719082215260424 Centerline is valid? [True, True] Translation: X:276.24, Y:9.19, Z:-1.71 [[ 9.99737442e-01 -2.15022397e-02 7.91833237e-03 2.76238566e+02] [ 2.15038315e-02 9.99768759e-01 -1.15930290e-04 9.19299034e+00] [-7.91400857e-03 2.86174337e-04 9.99968643e-01 -1.70655325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12439141799996 meters 0.055295741531623185 Centerline is valid? [True, True] Translation: X:276.30, Y:9.19, Z:-1.71 [[ 9.99828239e-01 -1.71166278e-02 7.10733027e-03 2.76299658e+02] [ 1.71178007e-02 9.99853474e-01 -1.04232325e-04 9.19335820e+00] [-7.10450476e-03 2.25876286e-04 9.99974737e-01 -1.70732680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18439141799996 meters 0.05540153626449316 Centerline is valid? [True, True] Translation: X:276.36, Y:9.19, Z:-1.71 [[ 9.99933069e-01 -9.45683331e-03 6.66526016e-03 2.76360187e+02] [ 9.45769515e-03 9.99955270e-01 -9.77953219e-05 9.19479547e+00] [-6.66403719e-03 1.60826775e-04 9.99977782e-01 -1.70861929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24439141799996 meters 0.0546004310509776 Centerline is valid? [True, True] Translation: X:276.42, Y:9.20, Z:-1.71 [[ 9.99977831e-01 -2.80556620e-03 6.03878032e-03 2.76420857e+02] [ 2.80615263e-03 9.99996059e-01 -8.86400149e-05 9.19825240e+00] [-6.03850784e-03 1.05583789e-04 9.99981762e-01 -1.71026699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30439141799997 meters 0.05454393587318169 Centerline is valid? [True, True] Translation: X:276.48, Y:9.20, Z:-1.71 [[ 9.99980714e-01 -9.11676004e-05 6.20997646e-03 2.76482604e+02] [ 9.17357714e-05 9.99999992e-01 -9.12084658e-05 9.19853067e+00] [-6.20996809e-03 9.17763837e-05 9.99980714e-01 -1.71089188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36439141799997 meters 0.05395950597348843 Centerline is valid? [True, True] Translation: X:276.54, Y:9.20, Z:-1.71 [[ 9.99984510e-01 1.05433868e-03 5.46511974e-03 2.76544387e+02] [-1.05391513e-03 9.99999441e-01 -8.03788235e-05 9.19837847e+00] [-5.46520143e-03 7.46178060e-05 9.99985063e-01 -1.71144967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42439141799997 meters 0.054059189443920345 Centerline is valid? [True, True] Translation: X:276.61, Y:9.20, Z:-1.71 [[ 9.99989010e-01 -1.63754054e-04 4.68536058e-03 2.76606236e+02] [ 1.64078807e-04 9.99999984e-01 -6.89278482e-05 9.19765210e+00] [-4.68534922e-03 6.96958590e-05 9.99989021e-01 -1.71187300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.484391418 meters 0.0545755643781777 Centerline is valid? [True, True] Translation: X:276.67, Y:9.19, Z:-1.71 [[ 9.99982218e-01 -4.30895757e-03 4.12258129e-03 2.76667481e+02] [ 4.30924661e-03 9.99990713e-01 -6.12307373e-05 9.19433178e+00] [-4.12227916e-03 7.89948680e-05 9.99991500e-01 -1.71254279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters 0.05492398880406338 Centerline is valid? [True, True] Translation: X:276.73, Y:9.19, Z:-1.71 [[ 9.99938082e-01 -1.02930413e-02 4.22901145e-03 2.76727527e+02] [ 1.02933994e-02 9.99947020e-01 -6.29222229e-05 9.18991802e+00] [-4.22813973e-03 1.06449231e-04 9.99991056e-01 -1.71209328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters 0.05542705738876557 Centerline is valid? [True, True] Translation: X:276.79, Y:9.18, Z:-1.71 [[ 9.99804862e-01 -1.92750704e-02 4.32542105e-03 2.76786471e+02] [ 1.92755289e-02 9.99814208e-01 -6.43269237e-05 9.18079895e+00] [-4.32337751e-03 1.47689149e-04 9.99990643e-01 -1.71177813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters 0.05573998949358028 Centerline is valid? [True, True] Translation: X:276.85, Y:9.18, Z:-1.71 [[ 9.99639354e-01 -2.64513030e-02 4.63582515e-03 2.76847037e+02] [ 2.64519064e-02 9.99650085e-01 -6.88981713e-05 9.17824779e+00] [-4.63238056e-03 1.91499737e-04 9.99989252e-01 -1.71110174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters 0.054579021349066295 Centerline is valid? [True, True] Translation: X:276.91, Y:9.18, Z:-1.71 [[ 9.99352316e-01 -3.55237440e-02 5.74567266e-03 2.76908024e+02] [ 3.55248206e-02 9.99368791e-01 -8.54067606e-05 9.18019904e+00] [-5.73901197e-03 2.89465435e-04 9.99983490e-01 -1.70991862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters 0.052980999389004774 Centerline is valid? [True, True] Translation: X:276.97, Y:9.18, Z:-1.71 [[ 9.99093979e-01 -4.20566715e-02 6.51595805e-03 2.76968751e+02] [ 4.20581949e-02 9.99115158e-01 -9.68727484e-05 9.18273189e+00] [-6.50611831e-03 3.70834413e-04 9.99978766e-01 -1.71041877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters 0.057360214459531766 Centerline is valid? [True, True] Translation: X:277.03, Y:9.16, Z:-1.71 [[ 9.98897812e-01 -4.66938385e-02 4.77983252e-03 2.77028012e+02] [ 4.66947111e-02 9.98909205e-01 -7.10540121e-05 9.16241825e+00] [-4.77130092e-03 2.94168596e-04 9.99988574e-01 -1.71165334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters 0.05447569599678267 Centerline is valid? [True, True] Translation: X:277.09, Y:9.17, Z:-1.71 [[ 9.98786379e-01 -4.91321013e-02 3.43581057e-03 2.77089616e+02] [ 4.91325665e-02 9.98792265e-01 -5.10632587e-05 9.17416395e+00] [-3.42915218e-03 2.19811479e-04 9.99994096e-01 -1.71260888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters 0.05360858763323972 Centerline is valid? [True, True] Translation: X:277.15, Y:9.17, Z:-1.71 [[ 9.98707158e-01 -5.07762602e-02 2.40507590e-03 2.77150603e+02] [ 5.07764930e-02 9.98710041e-01 -3.57721031e-05 9.17482220e+00] [-2.40015708e-03 1.57847175e-04 9.99997107e-01 -1.71401682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters 0.06207844922276331 Centerline is valid? [True, True] Translation: X:277.21, Y:9.15, Z:-1.72 [[ 9.98824176e-01 -4.83990111e-02 2.79317818e-03 2.77209526e+02] [ 4.83993159e-02 9.98828066e-01 -4.16125921e-05 9.14731449e+00] [-2.78789075e-03 1.76751576e-04 9.99996098e-01 -1.71545114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters 0.05945279864911752 Centerline is valid? [True, True] Translation: X:277.27, Y:9.16, Z:-1.71 [[ 9.98977773e-01 -4.50430677e-02 3.81198715e-03 2.77270663e+02] [ 4.50436108e-02 9.98985020e-01 -5.67090183e-05 9.15767418e+00] [-3.80556372e-03 2.28356715e-04 9.99992733e-01 -1.71478371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14439141799994 meters 0.054696298180796174 Centerline is valid? [True, True] Translation: X:277.33, Y:9.18, Z:-1.71 [[ 9.99254256e-01 -3.83586367e-02 4.42111316e-03 2.77331671e+02] [ 3.83593022e-02 9.99264009e-01 -6.58104216e-05 9.18189802e+00] [-4.41533486e-03 2.35352160e-04 9.99990225e-01 -1.71431878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20439141799994 meters 0.05495740297009614 Centerline is valid? [True, True] Translation: X:277.39, Y:9.18, Z:-1.72 [[ 9.99458237e-01 -3.27147927e-02 3.60218065e-03 2.77391734e+02] [ 3.27151979e-02 9.99464713e-01 -5.36111215e-05 9.18353653e+00] [-3.59849858e-03 1.71428130e-04 9.99993511e-01 -1.71521685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26439141799995 meters 0.054327029198728845 Centerline is valid? [True, True] Translation: X:277.45, Y:9.19, Z:-1.72 [[ 9.99530422e-01 -3.05263154e-02 2.66084360e-03 2.77452567e+02] [ 3.05265287e-02 9.99533956e-01 -3.95865368e-05 9.18848183e+00] [-2.65839510e-03 1.20794266e-04 9.99996459e-01 -1.71551158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32439141799995 meters 0.05582348061644903 Centerline is valid? [True, True] Translation: X:277.51, Y:9.18, Z:-1.72 [[ 9.99583115e-01 -2.88204000e-02 1.72654467e-03 2.77513085e+02] [ 2.88204872e-02 9.99584603e-01 -2.56490245e-05 9.18231836e+00] [-1.72508825e-03 7.53981903e-05 9.99998509e-01 -1.71656376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38439141799995 meters 0.05718840300668463 Centerline is valid? [True, True] Translation: X:277.57, Y:9.18, Z:-1.72 [[ 9.99652030e-01 -2.63159604e-02 1.81374780e-03 2.77573117e+02] [ 2.63160526e-02 9.99653672e-01 -2.70181709e-05 9.17974682e+00] [-1.81240864e-03 7.47394520e-05 9.99998355e-01 -1.71622240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44439141799995 meters 0.05595924153678566 Centerline is valid? [True, True] Translation: X:277.64, Y:9.18, Z:-1.72 [[ 9.99683677e-01 -2.50535207e-02 2.20633652e-03 2.77635175e+02] [ 2.50536541e-02 9.99686107e-01 -3.28251455e-05 9.18403115e+00] [-2.20482159e-03 8.80915543e-05 9.99997565e-01 -1.71586468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50439141799995 meters 0.05473963637446756 Centerline is valid? [True, True] Translation: X:277.70, Y:9.19, Z:-1.72 [[ 9.99801520e-01 -1.96561398e-02 3.24903071e-03 2.77695971e+02] [ 1.96564012e-02 9.99806793e-01 -4.85277069e-05 9.18904214e+00] [-3.24744911e-03 1.12382326e-04 9.99994721e-01 -1.71564102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56439141799996 meters 0.054843527843171765 Centerline is valid? [True, True] Translation: X:277.76, Y:9.19, Z:-1.72 [[ 9.99910095e-01 -1.29652986e-02 3.42106919e-03 2.77756593e+02] [ 1.29655493e-02 9.99915942e-01 -5.11276880e-05 9.19414263e+00] [-3.42011873e-03 9.54791327e-05 9.99994147e-01 -1.71603099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62439141799996 meters 0.054654062499608386 Centerline is valid? [True, True] Translation: X:277.82, Y:9.20, Z:-1.72 [[ 9.99957954e-01 -8.40544411e-03 3.66597198e-03 2.77816932e+02] [ 8.40570157e-03 9.99964670e-01 -5.48255397e-05 9.19978901e+00] [-3.66538162e-03 8.56383009e-05 9.99993279e-01 -1.71612938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68439141799996 meters 0.055132383869175905 Centerline is valid? [True, True] Translation: X:277.88, Y:9.20, Z:-1.72 [[ 9.99990820e-01 -1.79943747e-03 3.88881806e-03 2.77876552e+02] [ 1.79967738e-03 9.99998379e-01 -5.81958440e-05 9.20014208e+00] [-3.88870704e-03 6.51939276e-05 9.99992437e-01 -1.71550917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74439141799996 meters 0.05505440408301456 Centerline is valid? [True, True] Translation: X:277.94, Y:9.20, Z:-1.72 [[ 9.99991230e-01 1.91577099e-03 3.72431944e-03 2.77937359e+02] [-1.91557700e-03 9.99998164e-01 -5.56551623e-05 9.20018806e+00] [-3.72441923e-03 4.85204536e-05 9.99993063e-01 -1.71563962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80439141799997 meters 0.05440308538023775 Centerline is valid? [True, True] Translation: X:278.00, Y:9.20, Z:-1.72 [[ 9.99989574e-01 2.43318979e-03 3.86407999e-03 2.77999055e+02] [-2.43298458e-03 9.99997039e-01 -5.78074966e-05 9.20189723e+00] [-3.86420920e-03 4.84056468e-05 9.99992533e-01 -1.71533606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86439141799997 meters 0.054207767416106445 Centerline is valid? [True, True] Translation: X:278.06, Y:9.20, Z:-1.72 [[ 9.99992581e-01 1.70209056e-03 3.45543309e-03 2.78060294e+02] [-1.70192270e-03 9.99998550e-01 -5.15192482e-05 9.19823740e+00] [-3.45551577e-03 4.56379860e-05 9.99994029e-01 -1.71609108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92439141799997 meters 0.05467377885891724 Centerline is valid? [True, True] Translation: X:278.12, Y:9.20, Z:-1.72 [[ 9.99995027e-01 -1.56583367e-03 2.73743951e-03 2.78121471e+02] [ 1.56595244e-03 9.99998773e-01 -4.12450022e-05 9.19616193e+00] [-2.73737157e-03 4.55314972e-05 9.99996252e-01 -1.71634604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters 0.054716842866215795 Centerline is valid? [True, True] Translation: X:278.18, Y:9.19, Z:-1.72 [[ 9.99979982e-01 -5.68550776e-03 2.77687990e-03 2.78182202e+02] [ 5.68564598e-03 9.99983836e-01 -4.18821675e-05 9.19498425e+00] [-2.77659689e-03 5.76696851e-05 9.99996144e-01 -1.71651151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters 0.05458824561306932 Centerline is valid? [True, True] Translation: X:278.24, Y:9.19, Z:-1.72 [[ 9.99880910e-01 -1.53972432e-02 1.04481285e-03 2.78241647e+02] [ 1.53972681e-02 9.99881455e-01 -1.58272528e-05 9.18885651e+00] [-1.04444530e-03 3.19126315e-05 9.99999454e-01 -1.71804397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters 0.0546688663951482 Centerline is valid? [True, True] Translation: X:278.30, Y:9.18, Z:-1.72 [[ 9.99625789e-01 -2.73547423e-02 2.99365019e-05 2.78300823e+02] [ 2.73547423e-02 9.99625789e-01 -3.80786272e-07 9.17980905e+00] [-2.99148831e-05 1.19954908e-06 1.00000000e+00 -1.72001871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters 0.05283769546954532 Centerline is valid? [True, True] Translation: X:278.36, Y:9.19, Z:-1.72 [[ 9.99371676e-01 -3.54428219e-02 -2.46038978e-04 2.78361944e+02] [ 3.54428239e-02 9.99371706e-01 3.73839879e-06 9.19171740e+00] [ 2.45751894e-04 -1.24563660e-05 9.99999970e-01 -1.71922204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters 0.05312194217689157 Centerline is valid? [True, True] Translation: X:278.42, Y:9.19, Z:-1.72 [[ 9.99318088e-01 -3.69179147e-02 6.53436852e-04 2.78422137e+02] [ 3.69179290e-02 9.99318301e-01 -9.84006845e-06 9.18815389e+00] [-6.52628130e-04 3.39568937e-05 9.99999786e-01 -1.71957432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters 0.05264478799692495 Centerline is valid? [True, True] Translation: X:278.48, Y:9.20, Z:-1.72 [[ 9.99401264e-01 -3.45320267e-02 2.15679077e-03 2.78482411e+02] [ 3.45321774e-02 9.99403586e-01 -3.26352686e-05 9.19577674e+00] [-2.15437747e-03 1.07094410e-04 9.99997674e-01 -1.71923692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters 0.053469480874201024 Centerline is valid? [True, True] Translation: X:278.54, Y:9.19, Z:-1.72 [[ 9.99581693e-01 -2.87721644e-02 2.93290166e-03 2.78542266e+02] [ 2.87724183e-02 9.99585987e-01 -4.43825954e-05 9.19280096e+00] [-2.93041041e-03 1.28750703e-04 9.99995698e-01 -1.71894099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters 0.054880559812531905 Centerline is valid? [True, True] Translation: X:278.60, Y:9.19, Z:-1.72 [[ 9.99738364e-01 -2.26680831e-02 3.05980410e-03 2.78602022e+02] [ 2.26683309e-02 9.99743039e-01 -4.63380501e-05 9.18714771e+00] [-3.05796746e-03 1.15686578e-04 9.99995318e-01 -1.72009995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters 0.05340245500756419 Centerline is valid? [True, True] Translation: X:278.66, Y:9.19, Z:-1.72 [[ 9.99818117e-01 -1.88969335e-02 2.57643938e-03 2.78662690e+02] [ 1.88970966e-02 9.99821433e-01 -3.89852045e-05 9.19491692e+00] [-2.57524262e-03 8.76653378e-05 9.99996680e-01 -1.72060639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters 0.053630992895471935 Centerline is valid? [True, True] Translation: X:278.72, Y:9.20, Z:-1.72 [[ 9.99906301e-01 -1.36677156e-02 7.62990202e-04 2.78723883e+02] [ 1.36677284e-02 9.99906592e-01 -1.15345823e-05 9.20251366e+00] [-7.62761282e-04 2.19618444e-05 9.99999709e-01 -1.72141446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters 0.053740328347966514 Centerline is valid? [True, True] Translation: X:278.78, Y:9.21, Z:-1.72 [[ 9.99974986e-01 -7.03107071e-03 -7.69400205e-04 2.78784207e+02] [ 7.03108176e-03 9.99975282e-01 1.16556822e-05 9.20835560e+00] [ 7.69299234e-04 -1.70651064e-05 9.99999704e-01 -1.72263046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64439141799994 meters 0.05413361213504899 Centerline is valid? [True, True] Translation: X:278.84, Y:9.22, Z:-1.72 [[ 9.99998788e-01 6.85668436e-04 -1.39775013e-03 2.78843539e+02] [-6.85639620e-04 9.99999765e-01 2.10946523e-05 9.21554199e+00] [ 1.39776427e-03 -2.01362738e-05 9.99999023e-01 -1.72331732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70439141799994 meters 0.054261702803362684 Centerline is valid? [True, True] Translation: X:278.90, Y:9.22, Z:-1.72 [[ 9.99984184e-01 5.61867320e-03 -2.49710301e-04 2.78902966e+02] [-5.61867246e-03 9.99984215e-01 3.67578699e-06 9.21878542e+00] [ 2.49727012e-04 -2.27268845e-06 9.99999969e-01 -1.72414527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76439141799995 meters 0.05412892310596898 Centerline is valid? [True, True] Translation: X:278.96, Y:9.23, Z:-1.72 [[ 9.99919335e-01 1.24625317e-02 2.45123308e-03 2.78962296e+02] [-1.24624774e-02 9.99922340e-01 -3.74165416e-05 9.22872012e+00] [-2.45150902e-03 6.86508643e-06 9.99996995e-01 -1.72176756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82439141799995 meters 0.05433404866113996 Centerline is valid? [True, True] Translation: X:279.02, Y:9.23, Z:-1.72 [[ 9.99851274e-01 1.68039124e-02 3.88041299e-03 2.79020832e+02] [-1.68038121e-02 9.99858804e-01 -5.84674549e-05 9.23293976e+00] [-3.88084758e-03 -6.74697141e-06 9.99992469e-01 -1.72085668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88439141799995 meters 0.05349660186733746 Centerline is valid? [True, True] Translation: X:279.08, Y:9.23, Z:-1.72 [[ 9.99882536e-01 1.47251558e-02 4.25255536e-03 2.79078408e+02] [-1.47250194e-02 9.99891579e-01 -6.33735143e-05 9.23215841e+00] [-4.25302748e-03 7.47109798e-07 9.99990956e-01 -1.72095156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94439141799995 meters 0.053247579424638626 Centerline is valid? [True, True] Translation: X:279.14, Y:9.23, Z:-1.72 [[ 9.99943114e-01 9.89939752e-03 3.97128618e-03 2.79137149e+02] [-9.89924121e-03 9.99951000e-01 -5.90154813e-05 9.22904565e+00] [-3.97167581e-03 1.96994043e-05 9.99992113e-01 -1.72185971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00439141799995 meters 0.054459150682462834 Centerline is valid? [True, True] Translation: X:279.20, Y:9.22, Z:-1.72 [[ 9.99992413e-01 1.74940353e-03 3.48045825e-03 2.79197264e+02] [-1.74923465e-03 9.99998469e-01 -5.15667913e-05 9.22286814e+00] [-3.48054313e-03 4.54782619e-05 9.99993942e-01 -1.72368501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06439141799996 meters 0.05406199449490667 Centerline is valid? [True, True] Translation: X:279.26, Y:9.22, Z:-1.72 [[ 9.99984814e-01 -4.54011250e-03 3.12388062e-03 2.79257228e+02] [ 4.54027909e-03 9.99989692e-01 -4.62397956e-05 9.21675849e+00] [-3.12363848e-03 6.04223832e-05 9.99995120e-01 -1.72466366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12439141799996 meters 0.053963852814696234 Centerline is valid? [True, True] Translation: X:279.32, Y:9.21, Z:-1.73 [[ 9.99968838e-01 -7.31477921e-03 2.96930068e-03 2.79318697e+02] [ 7.31494181e-03 9.99973245e-01 -4.39020988e-05 9.21214547e+00] [-2.96890011e-03 6.56209924e-05 9.99995591e-01 -1.72508088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18439141799996 meters 0.054051100948070474 Centerline is valid? [True, True] Translation: X:279.38, Y:9.21, Z:-1.73 [[ 9.99960694e-01 -8.11026003e-03 3.58240494e-03 2.79379535e+02] [ 8.11050132e-03 9.99967108e-01 -5.28326141e-05 9.20910880e+00] [-3.58185862e-03 8.18856375e-05 9.99993582e-01 -1.72562094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24439141799996 meters 0.05408426632789898 Centerline is valid? [True, True] Translation: X:279.44, Y:9.20, Z:-1.73 [[ 9.99961660e-01 -7.70680512e-03 4.15746442e-03 2.79441782e+02] [ 7.70712927e-03 9.99970298e-01 -6.19543521e-05 9.20450190e+00] [-4.15686346e-03 9.39940924e-05 9.99991356e-01 -1.72648992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30439141799997 meters 0.05343994207351831 Centerline is valid? [True, True] Translation: X:279.50, Y:9.20, Z:-1.73 [[ 9.99972987e-01 -5.59261743e-03 4.76956614e-03 2.79503390e+02] [ 5.59302126e-03 9.99984356e-01 -7.13332479e-05 9.20108593e+00] [-4.76909259e-03 9.80076058e-05 9.99988623e-01 -1.72681890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36439141799997 meters 0.053488654401320064 Centerline is valid? [True, True] Translation: X:279.56, Y:9.20, Z:-1.73 [[ 9.99979650e-01 -4.37131819e-03 4.64665026e-03 2.79564205e+02] [ 4.37168845e-03 9.99990442e-01 -6.95292216e-05 9.19870464e+00] [-4.64630191e-03 8.98415140e-05 9.99989202e-01 -1.72754571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42439141799997 meters 0.05300107767188321 Centerline is valid? [True, True] Translation: X:279.63, Y:9.20, Z:-1.73 [[ 9.99989856e-01 -2.23777294e-04 4.49867467e-03 2.79625620e+02] [ 2.24083698e-04 9.99999973e-01 -6.76057992e-05 9.19951916e+00] [-4.49865942e-03 6.86131930e-05 9.99989879e-01 -1.72818183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters 0.05308532555133608 Centerline is valid? [True, True] Translation: X:279.69, Y:9.20, Z:-1.73 [[ 9.99990580e-01 3.35221639e-03 2.75744649e-03 2.79685677e+02] [-3.35211469e-03 9.99994381e-01 -4.15026567e-05 9.19630504e+00] [-2.75757012e-03 3.22589888e-05 9.99996197e-01 -1.72957395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters 0.05425822806286352 Centerline is valid? [True, True] Translation: X:279.75, Y:9.19, Z:-1.73 [[ 9.99987141e-01 4.53857398e-03 2.26241307e-03 2.79745782e+02] [-4.53850811e-03 9.99989700e-01 -3.42451964e-05 9.19265756e+00] [-2.26254519e-03 2.39767760e-05 9.99997440e-01 -1.73136220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters 0.05421964122564889 Centerline is valid? [True, True] Translation: X:279.81, Y:9.19, Z:-1.73 [[ 9.99984814e-01 5.27885479e-03 1.58281824e-03 2.79805871e+02] [-5.27882375e-03 9.99986067e-01 -2.37868749e-05 9.18783591e+00] [-1.58292176e-03 1.54310951e-05 9.99998747e-01 -1.73284096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters 0.054189683612865136 Centerline is valid? [True, True] Translation: X:279.87, Y:9.18, Z:-1.73 [[ 9.99988503e-01 4.09148323e-03 2.50077190e-03 2.79865077e+02] [-4.09140189e-03 9.99991629e-01 -3.76388310e-05 9.18317569e+00] [-2.50090497e-03 2.74067353e-05 9.99996872e-01 -1.73322964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters 0.05411953059724213 Centerline is valid? [True, True] Translation: X:279.92, Y:9.18, Z:-1.73 [[ 9.99995536e-01 1.57089733e-03 2.54156590e-03 2.79924395e+02] [-1.57080536e-03 9.99998766e-01 -3.81820405e-05 9.17886001e+00] [-2.54162275e-03 3.41895647e-05 9.99996769e-01 -1.73307261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters 0.05363589800648863 Centerline is valid? [True, True] Translation: X:279.99, Y:9.17, Z:-1.73 [[ 9.99975929e-01 -6.18308354e-03 3.14802084e-03 2.79985312e+02] [ 6.18326284e-03 9.99980882e-01 -4.72282875e-05 9.17350509e+00] [-3.14766864e-03 6.66921910e-05 9.99995044e-01 -1.73334184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters 0.05318763375357528 Centerline is valid? [True, True] Translation: X:280.05, Y:9.17, Z:-1.73 [[ 9.99893817e-01 -1.41345114e-02 3.54557558e-03 2.80046069e+02] [ 1.41347888e-02 9.99900097e-01 -5.31911538e-05 9.16893867e+00] [-3.54446953e-03 1.03301468e-04 9.99993713e-01 -1.73327217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters 0.054695586906290256 Centerline is valid? [True, True] Translation: X:280.11, Y:9.15, Z:-1.73 [[ 9.99608811e-01 -2.75852348e-02 4.61295851e-03 2.80105445e+02] [ 2.75858474e-02 9.99619436e-01 -6.92301642e-05 9.15184165e+00] [-4.60929326e-03 1.96455452e-04 9.99989358e-01 -1.73396440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters 0.05304520197765534 Centerline is valid? [True, True] Translation: X:280.17, Y:9.16, Z:-1.73 [[ 9.99241159e-01 -3.86653201e-02 4.70096958e-03 2.80165527e+02] [ 3.86660789e-02 9.99252185e-01 -7.06011437e-05 9.15538394e+00] [-4.69472431e-03 2.52315629e-04 9.99988948e-01 -1.73398917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters 0.05189575385293165 Centerline is valid? [True, True] Translation: X:280.23, Y:9.16, Z:-1.73 [[ 9.99072888e-01 -4.27571736e-02 5.01876265e-03 2.80226531e+02] [ 4.27580899e-02 9.99085452e-01 -7.53880071e-05 9.16103181e+00] [-5.01094937e-03 2.89910819e-04 9.99987403e-01 -1.73386948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters 0.059384453894054764 Centerline is valid? [True, True] Translation: X:280.29, Y:9.13, Z:-1.74 [[ 9.99055169e-01 -4.32983754e-02 3.74439130e-03 2.80287561e+02] [ 4.32988885e-02 9.99062162e-01 -5.60262080e-05 9.12707958e+00] [-3.73845383e-03 2.18101254e-04 9.99992988e-01 -1.73526034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14439141799994 meters 0.05262933079235624 Centerline is valid? [True, True] Translation: X:280.35, Y:9.15, Z:-1.74 [[ 9.99302302e-01 -3.72601272e-02 2.56761181e-03 2.80348405e+02] [ 3.72603496e-02 9.99305591e-01 -3.88390923e-05 9.15400277e+00] [-2.56438169e-03 1.34482108e-04 9.99996703e-01 -1.73565917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20439141799994 meters 0.05358912043793269 Centerline is valid? [True, True] Translation: X:280.41, Y:9.15, Z:-1.74 [[ 9.99684772e-01 -2.50660793e-02 1.43137998e-03 2.80409235e+02] [ 2.50661360e-02 9.99685795e-01 -2.16954032e-05 9.15491520e+00] [-1.43038641e-03 5.75677295e-05 9.99998975e-01 -1.73649138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26439141799995 meters 0.05488775108815415 Centerline is valid? [True, True] Translation: X:280.47, Y:9.15, Z:-1.74 [[ 9.99963247e-01 -8.48001290e-03 1.26226995e-03 2.80468312e+02] [ 8.48004375e-03 9.99964044e-01 -1.90893388e-05 9.15395088e+00] [-1.26206269e-03 2.97927416e-05 9.99999203e-01 -1.73797366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32439141799995 meters 0.053395534436561295 Centerline is valid? [True, True] Translation: X:280.53, Y:9.17, Z:-1.73 [[ 9.99992143e-01 3.56541191e-03 1.73258874e-03 2.80529606e+02] [-3.56537187e-03 9.99993644e-01 -2.62000684e-05 9.17079914e+00] [-1.73267115e-03 2.00225394e-05 9.99998499e-01 -1.73487022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38439141799995 meters 0.054479430153118596 Centerline is valid? [True, True] Translation: X:280.59, Y:9.17, Z:-1.74 [[ 9.99805736e-01 1.95339002e-02 2.63002553e-03 2.80588325e+02] [-1.95338629e-02 9.99809195e-01 -3.98764660e-05 9.17493327e+00] [-2.63030265e-03 -1.15058388e-05 9.99996541e-01 -1.73715557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44439141799995 meters 0.05423745439337659 Centerline is valid? [True, True] Translation: X:280.65, Y:9.18, Z:-1.74 [[ 9.99525566e-01 3.06386181e-02 3.14915443e-03 2.80648401e+02] [-3.06386200e-02 9.99530526e-01 -4.76448776e-05 9.17654251e+00] [-3.14913576e-03 -4.88634726e-05 9.99995040e-01 -1.73561229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50439141799995 meters 0.05470307862222369 Centerline is valid? [True, True] Translation: X:280.71, Y:9.18, Z:-1.74 [[ 9.99414221e-01 3.41237153e-02 2.60505849e-03 2.80707407e+02] [-3.41237283e-02 9.99417615e-01 -3.94640927e-05 9.17536975e+00] [-2.60488801e-03 -4.94533327e-05 9.99996606e-01 -1.73548956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56439141799996 meters 0.055526958105956196 Centerline is valid? [True, True] Translation: X:280.77, Y:9.18, Z:-1.74 [[ 9.99498450e-01 3.15572551e-02 2.64369463e-03 2.80765879e+02] [-3.15572596e-02 9.99501945e-01 -4.00055814e-05 9.17565505e+00] [-2.64364039e-03 -4.34422412e-05 9.99996505e-01 -1.73625187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62439141799996 meters 0.05426551640703428 Centerline is valid? [True, True] Translation: X:280.83, Y:9.16, Z:-1.74 [[ 9.99789087e-01 2.04321974e-02 2.07552241e-03 2.80825206e+02] [-2.04321763e-02 9.99791241e-01 -3.13284925e-05 9.16403666e+00] [-2.07572924e-03 -1.10855550e-05 9.99997846e-01 -1.73698945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68439141799996 meters 0.0545585940271356 Centerline is valid? [True, True] Translation: X:280.88, Y:9.15, Z:-1.74 [[ 9.99984567e-01 5.08568438e-03 2.23645950e-03 2.80884095e+02] [-5.08562155e-03 9.99987068e-01 -3.37797220e-05 9.14914821e+00] [-2.23660237e-03 2.24054140e-05 9.99997499e-01 -1.73543637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74439141799996 meters 0.054738008797054184 Centerline is valid? [True, True] Translation: X:280.94, Y:9.14, Z:-1.74 [[ 9.99987313e-01 -4.75392159e-03 1.66555272e-03 2.80944691e+02] [ 4.75396989e-03 9.99988700e-01 -2.50373673e-05 9.14038939e+00] [-1.66541487e-03 3.29550372e-05 9.99998613e-01 -1.73512721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80439141799997 meters 0.05528099121562042 Centerline is valid? [True, True] Translation: X:281.00, Y:9.12, Z:-1.74 [[ 9.99858635e-01 -1.67957234e-02 7.84037737e-04 2.81003913e+02] [ 1.67957378e-02 9.99858942e-01 -1.17994118e-05 9.12318994e+00] [-7.83728962e-04 2.49662360e-05 9.99999693e-01 -1.73582186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86439141799997 meters 0.05429305569217523 Centerline is valid? [True, True] Translation: X:281.06, Y:9.12, Z:-1.73 [[ 9.99734290e-01 -2.29692792e-02 1.93958868e-03 2.81064331e+02] [ 2.29693789e-02 9.99736169e-01 -2.91679643e-05 9.12212310e+00] [-1.93840699e-03 7.37113616e-05 9.99998119e-01 -1.73449229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92439141799997 meters 0.055231228903576145 Centerline is valid? [True, True] Translation: X:281.12, Y:9.11, Z:-1.73 [[ 9.99814798e-01 -1.90060231e-02 3.02343675e-03 2.81123406e+02] [ 1.90062473e-02 9.99819364e-01 -4.54553990e-05 9.11307046e+00] [-3.02202668e-03 1.02911167e-04 9.99995428e-01 -1.73466114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters 0.05484893202642152 Centerline is valid? [True, True] Translation: X:281.18, Y:9.12, Z:-1.73 [[ 9.99937294e-01 -1.07755858e-02 3.04864748e-03 2.81184005e+02] [ 1.07757756e-02 9.99941939e-01 -4.58302134e-05 9.11538690e+00] [-3.04797663e-03 7.86788806e-05 9.99995352e-01 -1.73444498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters 0.054444057567588876 Centerline is valid? [True, True] Translation: X:281.24, Y:9.12, Z:-1.74 [[ 9.99989751e-01 3.90930040e-03 2.28376490e-03 2.81244590e+02] [-3.90923217e-03 9.99992358e-01 -3.43402109e-05 9.12039332e+00] [-2.28388170e-03 2.54120917e-05 9.99997392e-01 -1.73505318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters 0.05436316621253584 Centerline is valid? [True, True] Translation: X:281.30, Y:9.12, Z:-1.74 [[ 9.99886073e-01 1.50935589e-02 -1.59191772e-04 2.81303272e+02] [-1.50935588e-02 9.99886086e-01 2.29053643e-06 9.12304493e+00] [ 1.59208210e-04 1.12494887e-07 9.99999987e-01 -1.73780841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters 0.05550795235978802 Centerline is valid? [True, True] Translation: X:281.36, Y:9.12, Z:-1.74 [[ 9.99838817e-01 1.77045893e-02 -2.98117254e-03 2.81361902e+02] [-1.77045375e-02 9.99843261e-01 4.37436161e-05 9.12280701e+00] [ 2.98147974e-03 9.04371574e-06 9.99995555e-01 -1.73977376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters 0.05550380267086936 Centerline is valid? [True, True] Translation: X:281.42, Y:9.12, Z:-1.74 [[ 9.99854827e-01 1.61041816e-02 -5.56599070e-03 2.81420547e+02] [-1.61039715e-02 9.99870319e-01 8.25764527e-05 9.11947357e+00] [ 5.56659872e-03 7.07009057e-06 9.99984506e-01 -1.74000468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters 0.054985616235314394 Centerline is valid? [True, True] Translation: X:281.48, Y:9.11, Z:-1.74 [[ 9.99943214e-01 7.63664668e-03 -7.43300880e-03 2.81479843e+02] [-7.63603679e-03 9.99970839e-01 1.10428655e-04 9.11105449e+00] [ 7.43363536e-03 -5.36636556e-05 9.99972369e-01 -1.74377732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters 0.05468818007679548 Centerline is valid? [True, True] Translation: X:281.54, Y:9.10, Z:-1.74 [[ 9.99977731e-01 3.25669288e-04 -6.66563848e-03 2.81538928e+02] [-3.25018223e-04 9.99999942e-01 9.87577443e-05 9.10475277e+00] [ 6.66567026e-03 -9.65890911e-05 9.99977780e-01 -1.74268339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters 0.05504903607276399 Centerline is valid? [True, True] Translation: X:281.60, Y:9.10, Z:-1.74 [[ 9.99937411e-01 -1.04108450e-02 -4.09745972e-03 2.81599321e+02] [ 1.04111815e-02 9.99945800e-01 6.08050901e-05 9.09990025e+00] [ 4.09660461e-03 -1.03460681e-04 9.99991604e-01 -1.73880697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters 0.05537667744630723 Centerline is valid? [True, True] Translation: X:281.66, Y:9.09, Z:-1.74 [[ 9.99814218e-01 -1.91927639e-02 -1.77949375e-03 2.81658736e+02] [ 1.91928412e-02 9.99815800e-01 2.63482026e-05 9.09230318e+00] [ 1.77866027e-03 -6.04968486e-05 9.99998416e-01 -1.73811083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters 0.055934054470555356 Centerline is valid? [True, True] Translation: X:281.72, Y:9.09, Z:-1.74 [[ 9.99697966e-01 -2.45715882e-02 -4.62477868e-04 2.81719470e+02] [ 2.45715940e-02 9.99698073e-01 6.94825608e-06 9.08662898e+00] [ 4.62167503e-04 -1.83099759e-05 9.99999893e-01 -1.73817485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters 0.056139344734453964 Centerline is valid? [True, True] Translation: X:281.78, Y:9.08, Z:-1.74 [[ 9.99490450e-01 -3.18802855e-02 1.57712713e-03 2.81778447e+02] [ 3.18803619e-02 9.99491692e-01 -2.33469325e-05 9.07967139e+00] [-1.57558116e-03 7.36144198e-05 9.99998756e-01 -1.73695457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64439141799994 meters 0.054503876950944455 Centerline is valid? [True, True] Translation: X:281.84, Y:9.09, Z:-1.74 [[ 9.99253734e-01 -3.85705777e-02 2.06995731e-03 2.81838992e+02] [ 3.85707239e-02 9.99255872e-01 -3.07499934e-05 9.08796412e+00] [-2.06723095e-03 1.10566797e-04 9.99997857e-01 -1.73545752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70439141799994 meters 0.055233977879764126 Centerline is valid? [True, True] Translation: X:281.90, Y:9.09, Z:-1.74 [[ 9.99158296e-01 -4.09965149e-02 1.40899051e-03 2.81898159e+02] [ 4.09965851e-02 9.99159286e-01 -2.09727014e-05 9.08704807e+00] [-1.40694615e-03 7.87188481e-05 9.99999007e-01 -1.73590471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76439141799995 meters 0.05476008643784293 Centerline is valid? [True, True] Translation: X:281.96, Y:9.09, Z:-1.74 [[ 9.99190328e-01 -4.02328076e-02 9.82706030e-05 2.81960575e+02] [ 4.02328079e-02 9.99190333e-01 -1.10053895e-06 9.08575128e+00] [-9.81467589e-05 5.05335018e-06 9.99999995e-01 -1.73881020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82439141799995 meters 0.05591337876473055 Centerline is valid? [True, True] Translation: X:282.02, Y:9.08, Z:-1.74 [[ 9.99264798e-01 -3.83337139e-02 -6.25118286e-04 2.82019893e+02] [ 3.83337272e-02 9.99264993e-01 9.32456278e-06 9.08291520e+00] [ 6.24301374e-04 -3.32808212e-05 9.99999805e-01 -1.74089386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88439141799995 meters 0.055482853325271614 Centerline is valid? [True, True] Translation: X:282.08, Y:9.09, Z:-1.74 [[ 9.99424695e-01 -3.38429645e-02 -2.22111105e-03 2.82081233e+02] [ 3.38431217e-02 9.99427157e-01 3.32009372e-05 9.08923580e+00] [ 2.21871508e-03 -1.08351168e-04 9.99997533e-01 -1.74240267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94439141799995 meters 0.05458754627089449 Centerline is valid? [True, True] Translation: X:282.14, Y:9.10, Z:-1.74 [[ 9.99625440e-01 -2.72585787e-02 -2.43926685e-03 2.82141964e+02] [ 2.72587487e-02 9.99628411e-01 3.64351693e-05 9.09845023e+00] [ 2.43736727e-03 -1.02912884e-04 9.99997024e-01 -1.74208208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00439141799995 meters 0.0546448902445473 Centerline is valid? [True, True] Translation: X:282.20, Y:9.11, Z:-1.74 [[ 9.99826988e-01 -1.85989476e-02 2.70023028e-04 2.82202780e+02] [ 1.85989494e-02 9.99827025e-01 -4.01935820e-06 9.10872294e+00] [-2.69901565e-04 9.04080743e-06 9.99999964e-01 -1.74024526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06439141799996 meters 0.05508301457910971 Centerline is valid? [True, True] Translation: X:282.26, Y:9.11, Z:-1.74 [[ 9.99920072e-01 -1.25462902e-02 1.56187644e-03 2.82262471e+02] [ 1.25463419e-02 9.99921291e-01 -2.33227337e-05 9.10849067e+00] [-1.56146090e-03 4.29167054e-05 9.99998780e-01 -1.74079595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12439141799996 meters 0.05437852516396189 Centerline is valid? [True, True] Translation: X:282.32, Y:9.12, Z:-1.74 [[ 9.99984246e-01 -4.87815134e-03 2.77708672e-03 2.82323373e+02] [ 4.87828515e-03 9.99988100e-01 -4.14099635e-05 9.11711045e+00] [-2.77685167e-03 5.49567320e-05 9.99996143e-01 -1.74066945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18439141799996 meters 0.05412429361529379 Centerline is valid? [True, True] Translation: X:282.38, Y:9.12, Z:-1.74 [[ 9.99996046e-01 1.33771490e-03 2.47354819e-03 2.82383257e+02] [-1.33762755e-03 9.99999105e-01 -3.69684101e-05 9.12195085e+00] [-2.47359543e-03 3.36595777e-05 9.99996940e-01 -1.74241135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24439141799996 meters 0.05479501496885313 Centerline is valid? [True, True] Translation: X:282.44, Y:9.13, Z:-1.74 [[ 9.99981735e-01 5.70023742e-03 2.00914407e-03 2.82443606e+02] [-5.70018866e-03 9.99983753e-01 -2.99947048e-05 9.12797237e+00] [-2.00928240e-03 1.85416568e-05 9.99997981e-01 -1.74240899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30439141799997 meters 0.05405283001209081 Centerline is valid? [True, True] Translation: X:282.50, Y:9.13, Z:-1.74 [[ 9.99962427e-01 8.35747092e-03 2.30157217e-03 2.82503400e+02] [-8.35741370e-03 9.99965076e-01 -3.44786727e-05 9.12991114e+00] [-2.30177994e-03 1.52421865e-05 9.99997351e-01 -1.74272242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36439141799997 meters 0.05436850141908076 Centerline is valid? [True, True] Translation: X:282.56, Y:9.13, Z:-1.74 [[ 9.99931386e-01 1.13876484e-02 2.74661526e-03 2.82561925e+02] [-1.13875784e-02 9.99935159e-01 -4.11124406e-05 9.13147425e+00] [-2.74690534e-03 9.83232305e-06 9.99996227e-01 -1.74318853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42439141799997 meters 0.05447970272560018 Centerline is valid? [True, True] Translation: X:282.62, Y:9.13, Z:-1.74 [[ 9.99914952e-01 1.26294798e-02 3.25334622e-03 2.82620601e+02] [-1.26293879e-02 9.99920245e-01 -4.88074198e-05 9.13120815e+00] [-3.25370316e-03 7.71549743e-06 9.99994707e-01 -1.74384621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters 0.05416942436910783 Centerline is valid? [True, True] Translation: X:282.68, Y:9.13, Z:-1.74 [[ 9.99906928e-01 1.34811633e-02 2.09621461e-03 2.82678785e+02] [-1.34811276e-02 9.99909125e-01 -3.11929695e-05 9.12895070e+00] [-2.09644464e-03 2.93072970e-06 9.99997802e-01 -1.74485395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters 0.05445802121903497 Centerline is valid? [True, True] Translation: X:282.74, Y:9.12, Z:-1.75 [[ 9.99939014e-01 1.08440417e-02 2.09187482e-03 2.82737451e+02] [-1.08440007e-02 9.99941202e-01 -3.09698766e-05 9.12398993e+00] [-2.09208766e-03 8.28369599e-06 9.99997812e-01 -1.74518413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters 0.054553238717419336 Centerline is valid? [True, True] Translation: X:282.80, Y:9.12, Z:-1.74 [[ 9.99975292e-01 6.37236723e-03 2.96777028e-03 2.82797190e+02] [-6.37226540e-03 9.99979696e-01 -4.37671783e-05 9.11926636e+00] [-2.96798893e-03 2.48546770e-05 9.99995595e-01 -1.74453319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters 0.05589182034102165 Centerline is valid? [True, True] Translation: X:282.86, Y:9.11, Z:-1.75 [[ 9.99984413e-01 5.26948481e-03 1.84588866e-03 2.82856925e+02] [-5.26944353e-03 9.99986116e-01 -2.72257708e-05 9.11407704e+00] [-1.84600650e-03 1.74985403e-05 9.99998296e-01 -1.74589952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters 0.0553762703273905 Centerline is valid? [True, True] Translation: X:282.92, Y:9.11, Z:-1.75 [[ 9.99975924e-01 6.61155391e-03 2.10698634e-03 2.82916513e+02] [-6.61150316e-03 9.99978143e-01 -3.10512190e-05 9.11075066e+00] [-2.10714558e-03 1.71201245e-05 9.99997780e-01 -1.74583198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters 0.05387578507654756 Centerline is valid? [True, True] Translation: X:282.98, Y:9.11, Z:-1.75 [[ 9.99946989e-01 9.84917853e-03 3.00198604e-03 2.82975297e+02] [-9.84909007e-03 9.99951496e-01 -4.42485719e-05 9.10823819e+00] [-3.00227625e-03 1.46793953e-05 9.99995493e-01 -1.74542190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters 0.05442302699811757 Centerline is valid? [True, True] Translation: X:283.04, Y:9.11, Z:-1.75 [[ 9.99934520e-01 1.07405465e-02 3.94921332e-03 2.83035358e+02] [-1.07404010e-02 9.99942319e-01 -5.80433005e-05 9.10560896e+00] [-3.94960894e-03 1.56233650e-05 9.99992200e-01 -1.74575058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters 0.055346387040409305 Centerline is valid? [True, True] Translation: X:283.10, Y:9.09, Z:-1.75 [[ 9.99987235e-01 4.61769277e-03 2.05094454e-03 2.83095710e+02] [-4.61764082e-03 9.99989338e-01 -3.00666742e-05 9.09228125e+00] [-2.05106151e-03 2.05957652e-05 9.99997896e-01 -1.74896576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters 0.055194940400884164 Centerline is valid? [True, True] Translation: X:283.16, Y:9.09, Z:-1.75 [[ 9.99994314e-01 -2.71281552e-03 2.00300936e-03 2.83156255e+02] [ 2.71287979e-03 9.99996320e-01 -2.93710875e-05 9.08614456e+00] [-2.00292231e-03 3.48048441e-05 9.99997994e-01 -1.74914484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters 0.0554212485146875 Centerline is valid? [True, True] Translation: X:283.22, Y:9.08, Z:-1.75 [[ 9.99877738e-01 -1.56195756e-02 7.33614475e-04 2.83216252e+02] [ 1.56195878e-02 9.99878007e-01 -1.08100732e-05 9.07577760e+00] [-7.33356130e-04 2.22675072e-05 9.99999731e-01 -1.74993962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters 0.05655162345769581 Centerline is valid? [True, True] Translation: X:283.28, Y:9.06, Z:-1.75 [[ 9.99718207e-01 -2.37310447e-02 -5.86749629e-04 2.83275661e+02] [ 2.37310538e-02 9.99718379e-01 8.57736800e-06 9.06456928e+00] [ 5.86380838e-04 -2.24991380e-05 9.99999828e-01 -1.75141586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14439141799994 meters 0.05839495573342682 Centerline is valid? [True, True] Translation: X:283.34, Y:9.06, Z:-1.75 [[ 9.99516979e-01 -3.10697053e-02 -6.94960024e-04 2.83335721e+02] [ 3.10697199e-02 9.99517220e-01 1.02372829e-05 9.05611926e+00] [ 6.94306442e-04 -3.18245514e-05 9.99999758e-01 -1.75187613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20439141799994 meters 0.05541918158208118 Centerline is valid? [True, True] Translation: X:283.40, Y:9.06, Z:-1.75 [[ 9.99201239e-01 -3.99228962e-02 1.74553292e-03 2.83396092e+02] [ 3.99230017e-02 9.99202759e-01 -2.56326173e-05 9.06380182e+00] [-1.74311798e-03 9.52990566e-05 9.99998476e-01 -1.74939447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26439141799995 meters 0.05881941130201995 Centerline is valid? [True, True] Translation: X:283.46, Y:9.05, Z:-1.75 [[ 9.99016863e-01 -4.42579761e-02 2.55715925e-03 2.83455351e+02] [ 4.42582168e-02 9.99020124e-01 -3.75754960e-05 9.04634661e+00] [-2.55299053e-03 1.50713862e-04 9.99996730e-01 -1.75025495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32439141799995 meters 0.05359365744886505 Centerline is valid? [True, True] Translation: X:283.52, Y:9.07, Z:-1.75 [[ 9.98810425e-01 -4.86283986e-02 3.60746125e-03 2.83516197e+02] [ 4.86289057e-02 9.98816914e-01 -5.29489196e-05 9.06831256e+00] [-3.60061849e-03 2.28312826e-04 9.99993492e-01 -1.74951473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38439141799995 meters 0.05814340201884897 Centerline is valid? [True, True] Translation: X:283.58, Y:9.05, Z:-1.75 [[ 9.98758677e-01 -4.97411042e-02 2.63211645e-03 2.83576116e+02] [ 4.97413779e-02 9.98762131e-01 -3.86132281e-05 9.04510202e+00] [-2.62693757e-03 1.69490396e-04 9.99996535e-01 -1.75091824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44439141799995 meters 0.05386248137588341 Centerline is valid? [True, True] Translation: X:283.64, Y:9.07, Z:-1.75 [[ 9.98774775e-01 -4.93478807e-02 3.70626294e-03 2.83638876e+02] [ 4.93484205e-02 9.98781623e-01 -5.42946191e-05 9.07279279e+00] [-3.69906799e-03 2.37126318e-04 9.99993130e-01 -1.75108174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50439141799995 meters 0.054645606279867386 Centerline is valid? [True, True] Translation: X:283.70, Y:9.06, Z:-1.75 [[ 9.98846065e-01 -4.79031302e-02 3.43919511e-03 2.83698388e+02] [ 4.79035877e-02 9.98851963e-01 -5.07353252e-05 9.06461416e+00] [-3.43281641e-03 2.15426565e-04 9.99994085e-01 -1.75235278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56439141799996 meters 0.05666763980056424 Centerline is valid? [True, True] Translation: X:283.76, Y:9.06, Z:-1.75 [[ 9.99108475e-01 -4.22000968e-02 1.18634882e-03 2.83757486e+02] [ 4.22001473e-02 9.99109177e-01 -1.74985212e-05 9.05594784e+00] [-1.18455356e-03 6.75470158e-05 9.99999296e-01 -1.75478653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62439141799996 meters 0.05529162986629255 Centerline is valid? [True, True] Translation: X:283.82, Y:9.06, Z:-1.76 [[ 9.99354976e-01 -3.58981088e-02 9.79039290e-04 2.83817825e+02] [ 3.58981402e-02 9.99355454e-01 -1.44650459e-05 9.06308205e+00] [-9.77888986e-04 4.96014052e-05 9.99999521e-01 -1.75502641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68439141799996 meters 0.05649451289813199 Centerline is valid? [True, True] Translation: X:283.88, Y:9.07, Z:-1.75 [[ 9.99722095e-01 -2.34716718e-02 2.19412388e-03 2.83877370e+02] [ 2.34717993e-02 9.99724499e-01 -3.23399480e-05 9.06554703e+00] [-2.19276032e-03 8.38309958e-05 9.99997592e-01 -1.75478169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74439141799996 meters 0.05540820592161858 Centerline is valid? [True, True] Translation: X:283.94, Y:9.08, Z:-1.75 [[ 9.99948142e-01 -8.59390882e-03 5.46426840e-03 2.83938177e+02] [ 8.59447761e-03 9.99963064e-01 -8.06174627e-05 9.07861112e+00] [-5.46337375e-03 1.27575814e-04 9.99985068e-01 -1.75354793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80439141799997 meters 0.05473935418384699 Centerline is valid? [True, True] Translation: X:284.00, Y:9.09, Z:-1.75 [[ 9.99961842e-01 6.44959501e-03 5.89211709e-03 2.83997446e+02] [-6.44919476e-03 9.99979200e-01 -8.69269062e-05 9.09013590e+00] [-5.89255517e-03 4.89241786e-05 9.99982638e-01 -1.75395028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86439141799997 meters 0.05443133213183801 Centerline is valid? [True, True] Translation: X:284.06, Y:9.10, Z:-1.75 [[ 9.99815723e-01 1.81525911e-02 6.24524174e-03 2.84057632e+02] [-1.81523702e-02 9.99835228e-01 -9.20491352e-05 9.09747631e+00] [-6.24588363e-03 -2.13337676e-05 9.99980494e-01 -1.75496507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92439141799997 meters 0.05579114658622227 Centerline is valid? [True, True] Translation: X:284.12, Y:9.10, Z:-1.76 [[ 9.99718822e-01 2.30870467e-02 5.40965937e-03 2.84115807e+02] [-2.30869528e-02 9.99733458e-01 -7.98013442e-05 9.10111319e+00] [-5.41005984e-03 -4.51136448e-05 9.99985365e-01 -1.75574588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters 0.0541835554625733 Centerline is valid? [True, True] Translation: X:284.17, Y:9.10, Z:-1.76 [[ 9.99688509e-01 2.42073195e-02 6.07381850e-03 2.84174481e+02] [-2.42072264e-02 9.99706958e-01 -8.88402456e-05 9.09942119e+00] [-6.07418921e-03 -5.82177273e-05 9.99981550e-01 -1.75683388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters 0.05583844906040767 Centerline is valid? [True, True] Translation: X:284.23, Y:9.10, Z:-1.76 [[ 9.99822878e-01 1.77825165e-02 6.16397150e-03 2.84232053e+02] [-1.77822996e-02 9.99841878e-01 -8.99919146e-05 9.09509758e+00] [-6.16459713e-03 -1.96336131e-05 9.99980998e-01 -1.75601144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters 0.05498154758818661 Centerline is valid? [True, True] Translation: X:284.29, Y:9.09, Z:-1.76 [[ 9.99914501e-01 1.12947814e-02 6.58935649e-03 2.84291246e+02] [-1.12943946e-02 9.99936212e-01 -9.59111770e-05 9.08856080e+00] [-6.59001946e-03 2.14801846e-05 9.99978285e-01 -1.75643106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters 0.05564323410142446 Centerline is valid? [True, True] Translation: X:284.35, Y:9.08, Z:-1.76 [[ 9.99981167e-01 2.02020494e-03 5.79514385e-03 2.84350992e+02] [-2.01975054e-03 9.99997957e-01 -8.42627098e-05 9.07670101e+00] [-5.79530224e-03 7.25563780e-05 9.99983204e-01 -1.75600031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters 0.056508058454314086 Centerline is valid? [True, True] Translation: X:284.41, Y:9.07, Z:-1.76 [[ 9.99981547e-01 -4.12697869e-03 4.45807299e-03 2.84411991e+02] [ 4.12730878e-03 9.99991481e-01 -6.48467447e-05 9.06611773e+00] [-4.45776739e-03 8.32453918e-05 9.99990061e-01 -1.75667862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters 0.05487780339562422 Centerline is valid? [True, True] Translation: X:284.47, Y:9.06, Z:-1.76 [[ 9.99885007e-01 -1.36526610e-02 6.60134223e-03 2.84472524e+02] [ 1.36535927e-02 9.99906781e-01 -9.60949257e-05 9.06227456e+00] [-6.59941491e-03 1.86215914e-04 9.99978206e-01 -1.75548235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters 0.05759212747897894 Centerline is valid? [True, True] Translation: X:284.53, Y:9.05, Z:-1.75 [[ 9.99771102e-01 -2.01498048e-02 7.19224406e-03 2.84531772e+02] [ 2.01510793e-02 9.99796941e-01 -1.04769269e-04 9.05148306e+00] [-7.18867253e-03 2.49676768e-04 9.99974130e-01 -1.75468287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters 0.05832355373035468 Centerline is valid? [True, True] Translation: X:284.59, Y:9.04, Z:-1.76 [[ 9.99761874e-01 -2.06540442e-02 7.04312196e-03 2.84593074e+02] [ 2.06552796e-02 9.99786652e-01 -1.02703792e-04 9.04156541e+00] [-7.03949808e-03 2.48156989e-04 9.99975192e-01 -1.75519434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters 0.056886744562891854 Centerline is valid? [True, True] Translation: X:284.65, Y:9.04, Z:-1.76 [[ 9.99859069e-01 -1.58193046e-02 5.62074315e-03 2.84653268e+02] [ 1.58200159e-02 9.99874852e-01 -8.21068358e-05 9.04356469e+00] [-5.61874086e-03 1.71015510e-04 9.99984200e-01 -1.75708223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters 0.05622728514127253 Centerline is valid? [True, True] Translation: X:284.71, Y:9.05, Z:-1.76 [[ 9.99907210e-01 -1.25579708e-02 5.27916375e-03 2.84713825e+02] [ 1.25585530e-02 9.99921135e-01 -7.71316688e-05 9.04577422e+00] [-5.27777880e-03 1.43423169e-04 9.99986062e-01 -1.75817999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters 0.05666518231807041 Centerline is valid? [True, True] Translation: X:284.78, Y:9.04, Z:-1.76 [[ 9.99941935e-01 -1.04781847e-02 2.51699086e-03 2.84775229e+02] [ 1.04783104e-02 9.99945100e-01 -3.67429382e-05 9.04351884e+00] [-2.51646767e-03 6.31146162e-05 9.99996832e-01 -1.76055713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64439141799994 meters 0.05553317802977898 Centerline is valid? [True, True] Translation: X:284.84, Y:9.05, Z:-1.76 [[ 9.99910814e-01 -1.33491603e-02 -4.05310790e-04 2.84836252e+02] [ 1.33491638e-02 9.99910896e-01 5.98296589e-06 9.05007450e+00] [ 4.05194807e-04 -1.13929924e-05 9.99999918e-01 -1.76144275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70439141799994 meters 0.05587860320331095 Centerline is valid? [True, True] Translation: X:284.90, Y:9.05, Z:-1.76 [[ 9.99866379e-01 -1.62278250e-02 -1.97040573e-03 2.84896622e+02] [ 1.62279135e-02 9.99868318e-01 2.89151548e-05 9.04579109e+00] [ 1.96967704e-03 -6.08868650e-05 9.99998058e-01 -1.76277338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76439141799995 meters 0.056389627857207865 Centerline is valid? [True, True] Translation: X:284.96, Y:9.05, Z:-1.76 [[ 9.99790338e-01 -2.03646095e-02 -2.13628610e-03 2.84957357e+02] [ 2.03647228e-02 9.99792617e-01 3.13083971e-05 9.04649841e+00] [ 2.13520548e-03 -7.48067072e-05 9.99997718e-01 -1.76168938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82439141799995 meters 0.05665689959703652 Centerline is valid? [True, True] Translation: X:285.02, Y:9.04, Z:-1.76 [[ 9.99768989e-01 -2.14701679e-02 -1.00026297e-03 2.85018747e+02] [ 2.14701935e-02 9.99769489e-01 1.48220657e-05 9.04350331e+00] [ 9.99714164e-04 -3.62944812e-05 9.99999500e-01 -1.76044044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88439141799995 meters 0.05559469088944594 Centerline is valid? [True, True] Translation: X:285.08, Y:9.05, Z:-1.76 [[ 9.99779568e-01 -2.09731213e-02 9.71018950e-04 2.85080966e+02] [ 2.09731448e-02 9.99780039e-01 -1.40837278e-05 9.05493999e+00] [-9.70509984e-04 3.44459444e-05 9.99999528e-01 -1.75725393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94439141799995 meters 0.056401710091329604 Centerline is valid? [True, True] Translation: X:285.14, Y:9.05, Z:-1.76 [[ 9.99828372e-01 -1.83273598e-02 2.70825116e-03 2.85140946e+02] [ 1.83275349e-02 9.99832036e-01 -3.98344662e-05 9.04860284e+00] [-2.70706621e-03 8.94631970e-05 9.99996332e-01 -1.75723246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00439141799995 meters 0.05651203313793652 Centerline is valid? [True, True] Translation: X:285.20, Y:9.05, Z:-1.76 [[ 9.99893755e-01 -1.43255984e-02 2.69374657e-03 2.85201979e+02] [ 1.43257571e-02 9.99897380e-01 -3.96138818e-05 9.05052256e+00] [-2.69290265e-03 7.81996321e-05 9.99996371e-01 -1.75785655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06439141799996 meters 0.05783344873545633 Centerline is valid? [True, True] Translation: X:285.26, Y:9.05, Z:-1.76 [[ 9.99954135e-01 -9.28126668e-03 2.36361136e-03 2.85261783e+02] [ 9.28137485e-03 9.99956927e-01 -3.47981619e-05 9.04836373e+00] [-2.36318658e-03 5.67341289e-05 9.99997206e-01 -1.75919741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12439141799996 meters 0.05574622453921055 Centerline is valid? [True, True] Translation: X:285.32, Y:9.06, Z:-1.76 [[ 9.99988497e-01 -4.12153146e-03 2.45349801e-03 2.85322651e+02] [ 4.12163225e-03 9.99991505e-01 -3.60258155e-05 9.05877553e+00] [-2.45332868e-03 4.61378176e-05 9.99996990e-01 -1.75795735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18439141799996 meters 0.05569653602917572 Centerline is valid? [True, True] Translation: X:285.38, Y:9.06, Z:-1.76 [[ 9.99995849e-01 2.41119335e-03 1.57764028e-03 2.85383439e+02] [-2.41115978e-03 9.99997093e-01 -2.31821974e-05 9.06370602e+00] [-1.57769159e-03 1.93781583e-05 9.99998755e-01 -1.75888540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24439141799996 meters 0.05564698189333124 Centerline is valid? [True, True] Translation: X:285.44, Y:9.06, Z:-1.76 [[ 9.99993372e-01 3.64076737e-03 4.57595561e-06 2.85444283e+02] [-3.64076737e-03 9.99993372e-01 -6.73796663e-08 9.06399505e+00] [-4.57617072e-06 5.07192355e-08 1.00000000e+00 -1.76072828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30439141799997 meters 0.05616079253081063 Centerline is valid? [True, True] Translation: X:285.50, Y:9.06, Z:-1.76 [[ 9.99999212e-01 1.04037377e-03 -7.02862019e-04 2.85503688e+02] [-1.04036679e-03 9.99999459e-01 1.02960016e-05 9.05981995e+00] [ 7.02872350e-04 -9.56475914e-06 9.99999753e-01 -1.76255144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36439141799997 meters 0.05593449146953953 Centerline is valid? [True, True] Translation: X:285.56, Y:9.06, Z:-1.76 [[ 9.99982317e-01 -5.93692569e-03 -3.43525188e-04 2.85563931e+02] [ 5.93692779e-03 9.99982376e-01 5.08843847e-06 9.05680205e+00] [ 3.43488924e-04 -7.12783272e-06 9.99999941e-01 -1.76149764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42439141799997 meters 0.055617249274429674 Centerline is valid? [True, True] Translation: X:285.62, Y:9.06, Z:-1.76 [[ 9.99933973e-01 -1.14848099e-02 3.85326199e-04 2.85624728e+02] [ 1.14848130e-02 9.99934047e-01 -5.66345500e-06 9.05923937e+00] [-3.85235743e-04 1.00884804e-05 9.99999926e-01 -1.75971734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters 0.05670471231434613 Centerline is valid? [True, True] Translation: X:285.68, Y:9.04, Z:-1.76 [[ 9.99806246e-01 -1.96166627e-02 1.62988912e-03 2.85683868e+02] [ 1.96167278e-02 9.99807573e-01 -2.39462364e-05 9.04443872e+00] [-1.62910574e-03 5.59146880e-05 9.99998671e-01 -1.76033483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters 0.0581814014704513 Centerline is valid? [True, True] Translation: X:285.74, Y:9.04, Z:-1.76 [[ 9.99689802e-01 -2.46200334e-02 3.76204513e-03 2.85743562e+02] [ 2.46204161e-02 9.99696870e-01 -5.54407927e-05 9.03758273e+00] [-3.75953979e-03 1.48046712e-04 9.99992922e-01 -1.75956200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters 0.058972163738843515 Centerline is valid? [True, True] Translation: X:285.81, Y:9.03, Z:-1.76 [[ 9.99690629e-01 -2.43916808e-02 4.86748651e-03 2.85805663e+02] [ 2.43923185e-02 9.99702461e-01 -7.16772386e-05 9.03244987e+00] [-4.86428991e-03 1.90384345e-04 9.99988151e-01 -1.75946479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters 0.055508109379372485 Centerline is valid? [True, True] Translation: X:285.87, Y:9.05, Z:-1.76 [[ 9.99762108e-01 -2.10497255e-02 5.71284078e-03 2.85866552e+02] [ 2.10505506e-02 9.99778409e-01 -8.43344186e-05 9.04745008e+00] [-5.70979965e-03 2.04572800e-04 9.99983678e-01 -1.76009588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters 0.05532408555783637 Centerline is valid? [True, True] Translation: X:285.93, Y:9.05, Z:-1.76 [[ 9.99828147e-01 -1.78642718e-02 4.95423195e-03 2.85927231e+02] [ 1.78648534e-02 9.99840408e-01 -7.31767055e-05 9.04986121e+00] [-4.95213404e-03 1.61670758e-04 9.99987725e-01 -1.76057571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters 0.055578038271156864 Centerline is valid? [True, True] Translation: X:285.99, Y:9.05, Z:-1.76 [[ 9.99910856e-01 -1.30842470e-02 2.66120206e-03 2.85986705e+02] [ 1.30843981e-02 9.99914395e-01 -3.93608185e-05 9.04985815e+00] [-2.66045924e-03 7.41775368e-05 9.99996458e-01 -1.76259666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters 0.05580579442679148 Centerline is valid? [True, True] Translation: X:286.05, Y:9.05, Z:-1.76 [[ 9.99950967e-01 -9.69189052e-03 2.03232307e-03 2.86047008e+02] [ 9.69197155e-03 9.99953031e-01 -3.00227106e-05 9.05008573e+00] [-2.03193663e-03 4.97184558e-05 9.99997934e-01 -1.76397811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters 0.05596149005934448 Centerline is valid? [True, True] Translation: X:286.11, Y:9.05, Z:-1.76 [[ 9.99965297e-01 -8.21359671e-03 1.39351620e-03 2.86107927e+02] [ 8.21363321e-03 9.99966267e-01 -2.04729836e-05 9.04804858e+00] [-1.39330103e-03 3.19181040e-05 9.99999029e-01 -1.76483562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters 0.055476910229540086 Centerline is valid? [True, True] Translation: X:286.17, Y:9.05, Z:-1.76 [[ 9.99962054e-01 -8.54724270e-03 1.68390122e-03 2.86169936e+02] [ 8.54729654e-03 9.99963471e-01 -2.47745905e-05 9.05003230e+00] [-1.68362795e-03 3.91664535e-05 9.99998582e-01 -1.76407536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters 0.05645506696957257 Centerline is valid? [True, True] Translation: X:286.23, Y:9.04, Z:-1.76 [[ 9.99925002e-01 -1.21698068e-02 1.37331063e-03 2.86229705e+02] [ 1.21698462e-02 9.99925944e-01 -2.03659830e-05 9.04481378e+00] [-1.37296107e-03 3.70774347e-05 9.99999057e-01 -1.76442228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters 0.05592917215170144 Centerline is valid? [True, True] Translation: X:286.29, Y:9.05, Z:-1.76 [[ 9.99793295e-01 -2.01483527e-02 2.72241482e-03 2.86290538e+02] [ 2.01485372e-02 9.99796997e-01 -4.03625703e-05 9.04621823e+00] [-2.72104892e-03 9.52069034e-05 9.99996293e-01 -1.76373584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14439141799994 meters 0.055855454120397656 Centerline is valid? [True, True] Translation: X:286.35, Y:9.04, Z:-1.76 [[ 9.99652444e-01 -2.62035266e-02 2.89237777e-03 2.86349563e+02] [ 2.62037603e-02 9.99656622e-01 -4.29261966e-05 9.04148817e+00] [-2.89025977e-03 1.18702451e-04 9.99995816e-01 -1.76363158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20439141799994 meters 0.058984157534917196 Centerline is valid? [True, True] Translation: X:286.41, Y:9.03, Z:-1.76 [[ 9.99418894e-01 -3.39171467e-02 3.39129292e-03 2.86409385e+02] [ 3.39175121e-02 9.99424634e-01 -5.02694666e-05 9.02988171e+00] [-3.38763669e-03 1.65264473e-04 9.99994248e-01 -1.76444520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26439141799995 meters 0.05496233545560286 Centerline is valid? [True, True] Translation: X:286.47, Y:9.05, Z:-1.76 [[ 9.99228136e-01 -3.89814461e-02 4.85589943e-03 2.86470375e+02] [ 3.89822549e-02 9.99239900e-01 -7.20038540e-05 9.04581397e+00] [-4.84940165e-03 2.61242186e-04 9.99988207e-01 -1.76382798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32439141799995 meters 0.05552282454710593 Centerline is valid? [True, True] Translation: X:286.53, Y:9.05, Z:-1.76 [[ 9.99197155e-01 -3.97281545e-02 5.16912537e-03 2.86532090e+02] [ 3.97290806e-02 9.99210485e-01 -7.65714430e-05 9.04521929e+00] [-5.16200223e-03 2.81874567e-04 9.99986637e-01 -1.76442433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38439141799995 meters 0.06574617031115686 Centerline is valid? [True, True] Translation: X:286.59, Y:9.02, Z:-1.77 [[ 9.99292932e-01 -3.73465500e-02 4.34413192e-03 2.86591530e+02] [ 3.73471840e-02 9.99302348e-01 -6.48899615e-05 9.01593324e+00] [-4.33867782e-03 2.27085174e-04 9.99990562e-01 -1.76518501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44439141799995 meters 0.05433196355584942 Centerline is valid? [True, True] Translation: X:286.65, Y:9.05, Z:-1.77 [[ 9.99391947e-01 -3.44412805e-02 5.43450259e-03 2.86653112e+02] [ 3.44422295e-02 9.99406687e-01 -8.11132028e-05 9.05374762e+00] [-5.42848459e-03 2.68240267e-04 9.99985230e-01 -1.76514474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50439141799995 meters 0.05628904075123948 Centerline is valid? [True, True] Translation: X:286.71, Y:9.04, Z:-1.77 [[ 9.99529580e-01 -3.03900822e-02 4.13060435e-03 2.86712554e+02] [ 3.03905963e-02 9.99538097e-01 -6.17479635e-05 9.04490828e+00] [-4.12681989e-03 1.87250446e-04 9.99991467e-01 -1.76607133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56439141799996 meters 0.05656832436705347 Centerline is valid? [True, True] Translation: X:286.77, Y:9.05, Z:-1.77 [[ 9.99742114e-01 -2.24703856e-02 3.28445027e-03 2.86772269e+02] [ 2.24706678e-02 9.99747501e-01 -4.90409182e-05 9.04725576e+00] [-3.28251899e-03 1.22832062e-04 9.99994605e-01 -1.76641300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62439141799996 meters 0.055223441002525894 Centerline is valid? [True, True] Translation: X:286.83, Y:9.06, Z:-1.77 [[ 9.99912842e-01 -1.27997570e-02 3.23631098e-03 2.86833246e+02] [ 1.27999804e-02 9.99918076e-01 -4.83325070e-05 9.06058391e+00] [-3.23542720e-03 8.97530117e-05 9.99994762e-01 -1.76594607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68439141799996 meters 0.05545580595330053 Centerline is valid? [True, True] Translation: X:286.89, Y:9.07, Z:-1.77 [[ 9.99988611e-01 -3.57637235e-03 3.16027865e-03 2.86893582e+02] [ 3.57653942e-03 9.99993603e-01 -4.72165046e-05 9.06516955e+00] [-3.16008957e-03 5.85188280e-05 9.99995005e-01 -1.76621971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74439141799996 meters 0.055165626669831505 Centerline is valid? [True, True] Translation: X:286.95, Y:9.07, Z:-1.77 [[ 9.99983403e-01 4.83628629e-03 3.13127136e-03 2.86953459e+02] [-4.83616332e-03 9.99988305e-01 -4.68437434e-05 9.07025026e+00] [-3.13146129e-03 3.16996263e-05 9.99995096e-01 -1.76678368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80439141799997 meters 0.05585568696745987 Centerline is valid? [True, True] Translation: X:287.01, Y:9.08, Z:-1.76 [[ 9.99950379e-01 9.41378205e-03 3.25884339e-03 2.87014101e+02] [-9.41367327e-03 9.99955689e-01 -4.87175139e-05 9.07714822e+00] [-3.25915761e-03 1.80374096e-05 9.99994689e-01 -1.76481053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86439141799997 meters 0.05484708115397594 Centerline is valid? [True, True] Translation: X:287.07, Y:9.08, Z:-1.77 [[ 9.99905917e-01 1.33200021e-02 3.27638943e-03 2.87072892e+02] [-1.33199121e-02 9.99911285e-01 -4.92802868e-05 9.07563604e+00] [-3.27675518e-03 5.63443111e-06 9.99994631e-01 -1.76592700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92439141799997 meters 0.05446791946460577 Centerline is valid? [True, True] Translation: X:287.13, Y:9.08, Z:-1.77 [[ 9.99897451e-01 1.40461005e-02 2.79170432e-03 2.87130564e+02] [-1.40460392e-02 9.99901349e-01 -4.15638550e-05 9.07501198e+00] [-2.79201272e-03 2.34720448e-06 9.99996102e-01 -1.76598602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters 0.054743095581352104 Centerline is valid? [True, True] Translation: X:287.19, Y:9.07, Z:-1.77 [[ 9.99913163e-01 1.27828734e-02 3.20375593e-03 2.87189657e+02] [-1.27827868e-02 9.99918296e-01 -4.75010838e-05 9.07250226e+00] [-3.20410137e-03 6.54403002e-06 9.99994867e-01 -1.76637113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters 0.055035306654706385 Centerline is valid? [True, True] Translation: X:287.25, Y:9.07, Z:-1.77 [[ 9.99964467e-01 7.98662921e-03 2.69800755e-03 2.87249321e+02] [-7.98655065e-03 9.99968106e-01 -3.98895326e-05 9.06646060e+00] [-2.69824009e-03 1.83403413e-05 9.99996360e-01 -1.76720868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters 0.05586963995906007 Centerline is valid? [True, True] Translation: X:287.31, Y:9.06, Z:-1.77 [[ 9.99997540e-01 1.72794363e-03 1.39089578e-03 2.87308353e+02] [-1.72791667e-03 9.99998507e-01 -2.05892520e-05 9.05878672e+00] [-1.39092928e-03 1.81858494e-05 9.99999032e-01 -1.76793355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters 0.05553036700781302 Centerline is valid? [True, True] Translation: X:287.37, Y:9.05, Z:-1.77 [[ 9.99997215e-01 -2.35233668e-03 1.89744288e-04 2.87368463e+02] [ 2.35233723e-03 9.99997233e-01 -2.65349739e-06 9.05253069e+00] [-1.89737521e-04 3.09983256e-06 9.99999982e-01 -1.76884142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters 0.054962404800724465 Centerline is valid? [True, True] Translation: X:287.43, Y:9.05, Z:-1.77 [[ 9.99961233e-01 -8.80025495e-03 2.97811090e-04 2.87429298e+02] [ 8.80025663e-03 9.99961277e-01 -4.33814458e-06 9.05078657e+00] [-2.97761381e-04 6.95879043e-06 9.99999956e-01 -1.76804421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters 0.055398178820934986 Centerline is valid? [True, True] Translation: X:287.49, Y:9.04, Z:-1.77 [[ 9.99916153e-01 -1.28846035e-02 1.29362117e-03 2.87489160e+02] [ 1.28846390e-02 9.99916989e-01 -1.91000360e-05 9.04437221e+00] [-1.29326769e-03 3.57662764e-05 9.99999163e-01 -1.76737178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters 0.05536025757916429 Centerline is valid? [True, True] Translation: X:287.55, Y:9.04, Z:-1.77 [[ 9.99895639e-01 -1.42651963e-02 2.28352825e-03 2.87551135e+02] [ 1.42653102e-02 9.99898245e-01 -3.35922457e-05 9.04186805e+00] [-2.28281668e-03 6.61639788e-05 9.99997392e-01 -1.76652900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters 0.0558224675979627 Centerline is valid? [True, True] Translation: X:287.61, Y:9.03, Z:-1.77 [[ 9.99856994e-01 -1.66815972e-02 2.77760098e-03 2.87610789e+02] [ 1.66817754e-02 9.99860849e-01 -4.09782024e-05 9.03005451e+00] [-2.77653089e-03 8.73076579e-05 9.99996142e-01 -1.76704619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters 0.055648882582384034 Centerline is valid? [True, True] Translation: X:287.67, Y:9.03, Z:-1.77 [[ 9.99754878e-01 -2.19919370e-02 2.55700042e-03 2.87671682e+02] [ 2.19921058e-02 9.99758144e-01 -3.79182203e-05 9.03072010e+00] [-2.55554810e-03 9.41427495e-05 9.99996730e-01 -1.76691869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters 0.055829093498306705 Centerline is valid? [True, True] Translation: X:287.73, Y:9.02, Z:-1.77 [[ 9.99595036e-01 -2.84426714e-02 8.81762591e-04 2.87730830e+02] [ 2.84426940e-02 9.99595425e-01 -1.30666706e-05 9.02377937e+00] [-8.81034201e-04 3.81410826e-05 9.99999611e-01 -1.76837869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters 0.057009087448793676 Centerline is valid? [True, True] Translation: X:287.79, Y:9.01, Z:-1.77 [[ 9.99476317e-01 -3.23584601e-02 -1.45314198e-04 2.87790813e+02] [ 3.23584607e-02 9.99476328e-01 2.19095001e-06 9.01403818e+00] [ 1.45167206e-04 -6.89194642e-06 9.99999989e-01 -1.76967234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64439141799994 meters 0.055753958806316575 Centerline is valid? [True, True] Translation: X:287.85, Y:9.02, Z:-1.77 [[ 9.99328376e-01 -3.66375610e-02 -6.96598207e-04 2.87851444e+02] [ 3.66375771e-02 9.99328619e-01 1.03694805e-05 9.02153314e+00] [ 6.95750611e-04 -3.58841866e-05 9.99999757e-01 -1.76805566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70439141799994 meters 0.061142086029206066 Centerline is valid? [True, True] Translation: X:287.91, Y:9.00, Z:-1.77 [[ 9.99268334e-01 -3.81511220e-02 -2.69967371e-03 2.87910959e+02] [ 3.81513692e-02 9.99271971e-01 4.01025524e-05 8.99738319e+00] [ 2.69617831e-03 -1.43069459e-04 9.99996355e-01 -1.77308883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76439141799995 meters 0.05477742172750354 Centerline is valid? [True, True] Translation: X:287.97, Y:9.02, Z:-1.77 [[ 9.99258733e-01 -3.83558869e-02 -3.28794789e-03 2.87973970e+02] [ 3.83562559e-02 9.99264127e-01 4.92144548e-05 9.02203851e+00] [ 3.28364071e-03 -1.75291344e-04 9.99994593e-01 -1.76923850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82439141799995 meters 0.054718856851776757 Centerline is valid? [True, True] Translation: X:288.03, Y:9.03, Z:-1.77 [[ 9.99346940e-01 -3.61242973e-02 -8.53229012e-04 2.88034890e+02] [ 3.61243213e-02 9.99347304e-01 1.27720391e-05 9.02944375e+00] [ 8.52210732e-04 -4.35860172e-05 9.99999636e-01 -1.76790147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88439141799995 meters 0.05562004550667717 Centerline is valid? [True, True] Translation: X:288.09, Y:9.02, Z:-1.77 [[ 9.99480318e-01 -3.22017907e-02 1.46252223e-03 2.88094086e+02] [ 3.22018571e-02 9.99481386e-01 -2.18397862e-05 9.01833788e+00] [-1.46106047e-03 6.89243684e-05 9.99998930e-01 -1.76870400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94439141799995 meters 0.05826280819282501 Centerline is valid? [True, True] Translation: X:288.15, Y:9.01, Z:-1.77 [[ 9.99585514e-01 -2.87284023e-02 1.86527330e-03 2.88153221e+02] [ 2.87285041e-02 9.99587251e-01 -2.78172465e-05 9.01238559e+00] [-1.86370427e-03 8.13922283e-05 9.99998260e-01 -1.76932838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00439141799995 meters 0.05536963653833636 Centerline is valid? [True, True] Translation: X:288.21, Y:9.02, Z:-1.77 [[ 9.99734650e-01 -2.29882726e-02 1.47277322e-03 2.88214214e+02] [ 2.29883298e-02 9.99735733e-01 -2.19293751e-05 9.02316307e+00] [-1.47187990e-03 5.57801527e-05 9.99998915e-01 -1.76976802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06439141799996 meters 0.055833590622919094 Centerline is valid? [True, True] Translation: X:288.28, Y:9.02, Z:-1.77 [[ 9.99828571e-01 -1.85155295e-02 -6.73458034e-05 2.88275065e+02] [ 1.85155296e-02 9.99828573e-01 1.09640850e-06 9.02323148e+00] [ 6.73139578e-05 -2.34316375e-06 9.99999998e-01 -1.77237053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12439141799996 meters 0.054546121773940394 Centerline is valid? [True, True] Translation: X:288.34, Y:9.03, Z:-1.77 [[ 9.99894130e-01 -1.44273176e-02 -1.89251684e-03 2.88336027e+02] [ 1.44273969e-02 9.99895919e-01 2.82358670e-05 9.03203689e+00] [ 1.89191250e-03 -5.55369692e-05 9.99998209e-01 -1.77253498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18439141799996 meters 0.055852284113636436 Centerline is valid? [True, True] Translation: X:288.40, Y:9.02, Z:-1.78 [[ 9.99941704e-01 -1.03684361e-02 -3.01416102e-03 2.88395565e+02] [ 1.03686186e-02 9.99946243e-01 4.49265559e-05 9.02489285e+00] [ 3.01353318e-03 -7.61766229e-05 9.99995456e-01 -1.77622182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24439141799996 meters 0.05524291000223336 Centerline is valid? [True, True] Translation: X:288.46, Y:9.04, Z:-1.77 [[ 9.99994729e-01 -3.24391266e-03 -1.40652648e-04 2.88456442e+02] [ 3.24391298e-03 9.99994739e-01 2.09311384e-06 9.03754397e+00] [ 1.40645118e-04 -2.54936775e-06 9.99999990e-01 -1.77400121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30439141799997 meters 0.05548743027377392 Centerline is valid? [True, True] Translation: X:288.52, Y:9.04, Z:-1.77 [[ 9.99995103e-01 1.90121961e-03 2.48582302e-03 2.88517758e+02] [-1.90113339e-03 9.99998192e-01 -3.70449834e-05 9.04168198e+00] [-2.48588896e-03 3.23189209e-05 9.99996910e-01 -1.77220114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36439141799997 meters 0.05516588826525647 Centerline is valid? [True, True] Translation: X:288.58, Y:9.04, Z:-1.77 [[ 9.99986419e-01 7.56395113e-04 5.15647941e-03 2.88578681e+02] [-7.56008856e-04 9.99999711e-01 -7.68558068e-05 9.04472168e+00] [-5.15653606e-03 7.29564189e-05 9.99986702e-01 -1.77119754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42439141799997 meters 0.05457160117690895 Centerline is valid? [True, True] Translation: X:288.64, Y:9.04, Z:-1.77 [[ 9.99965047e-01 -6.13618303e-03 5.67908162e-03 2.88638058e+02] [ 6.13676300e-03 9.99981166e-01 -8.47031851e-05 9.03991182e+00] [-5.67845491e-03 1.19551402e-04 9.99983870e-01 -1.77265159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters 0.05505498783738663 Centerline is valid? [True, True] Translation: X:288.70, Y:9.03, Z:-1.77 [[ 9.99928828e-01 -1.07462640e-02 5.18241161e-03 2.88698130e+02] [ 1.07468086e-02 9.99942248e-01 -7.72554800e-05 9.03320103e+00] [-5.18128211e-03 1.32944367e-04 9.99986568e-01 -1.77406850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters 0.05879377370986923 Centerline is valid? [True, True] Translation: X:288.76, Y:9.01, Z:-1.78 [[ 9.99887841e-01 -1.45166541e-02 3.68399321e-03 2.88757851e+02] [ 1.45169550e-02 9.99894622e-01 -5.49438523e-05 9.01384775e+00] [-3.68280740e-03 1.08418054e-04 9.99993213e-01 -1.77655194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters 0.055641130701358586 Centerline is valid? [True, True] Translation: X:288.82, Y:9.02, Z:-1.78 [[ 9.99891294e-01 -1.39422886e-02 4.79710934e-03 2.88819808e+02] [ 1.39427917e-02 9.99902792e-01 -7.14542368e-05 9.02098605e+00] [-4.79564678e-03 1.38331566e-04 9.99988491e-01 -1.77760269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters 0.05445194385788434 Centerline is valid? [True, True] Translation: X:288.88, Y:9.03, Z:-1.78 [[ 9.99912005e-01 -1.17800563e-02 6.10016244e-03 2.88881418e+02] [ 1.17808315e-02 9.99930599e-01 -9.11516724e-05 9.02603200e+00] [-6.09866531e-03 1.63008637e-04 9.99981390e-01 -1.77891618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters 0.054817909553706426 Centerline is valid? [True, True] Translation: X:288.94, Y:9.03, Z:-1.78 [[ 9.99955000e-01 -6.80967503e-03 6.60508833e-03 2.88940522e+02] [ 6.81047611e-03 9.99976804e-01 -9.87970793e-05 9.02501364e+00] [-6.60426234e-03 1.43776430e-04 9.99978181e-01 -1.77903273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters 0.054665964005243366 Centerline is valid? [True, True] Translation: X:289.00, Y:9.03, Z:-1.78 [[ 9.99966753e-01 -1.93803140e-03 7.92072295e-03 2.89000110e+02] [ 1.93903027e-03 9.99998113e-01 -1.18431065e-04 9.02625293e+00] [-7.92047848e-03 1.33785649e-04 9.99968624e-01 -1.77855561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters 0.054552534335878415 Centerline is valid? [True, True] Translation: X:289.06, Y:9.03, Z:-1.78 [[ 9.99970151e-01 -8.45812842e-04 7.67992387e-03 2.89062425e+02] [ 8.46720195e-04 9.99999635e-01 -1.14895421e-04 9.02697447e+00] [-7.67982389e-03 1.21394739e-04 9.99970502e-01 -1.77946900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters 0.0546593584620131 Centerline is valid? [True, True] Translation: X:289.13, Y:9.03, Z:-1.78 [[ 9.99981104e-01 6.54723900e-05 6.14712953e-03 2.89125109e+02] [-6.49071124e-05 9.99999994e-01 -9.21574080e-05 9.02530310e+00] [-6.14713552e-03 9.17566742e-05 9.99981102e-01 -1.78186070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters 0.05420862046909298 Centerline is valid? [True, True] Translation: X:289.19, Y:9.03, Z:-1.78 [[ 9.99981907e-01 -1.05296194e-03 5.92260287e-03 2.89187101e+02] [ 1.05350780e-03 9.99999441e-01 -8.90461343e-05 9.02590706e+00] [-5.92250580e-03 9.52840315e-05 9.99982457e-01 -1.78323687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters 0.05362324583849534 Centerline is valid? [True, True] Translation: X:289.25, Y:9.02, Z:-1.78 [[ 9.99982557e-01 -2.29144333e-03 5.44371489e-03 2.89248103e+02] [ 2.29192375e-03 9.99997370e-01 -8.20151967e-05 9.02145627e+00] [-5.44351264e-03 9.44903456e-05 9.99985180e-01 -1.78405001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters 0.05526111685525428 Centerline is valid? [True, True] Translation: X:289.31, Y:9.02, Z:-1.78 [[ 9.99983491e-01 2.15486806e-04 5.74203388e-03 2.89308796e+02] [-2.14989674e-04 9.99999973e-01 -8.71947324e-05 9.01602601e+00] [-5.74205252e-03 8.59588150e-05 9.99983511e-01 -1.78374313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14439141799994 meters 0.05403125878667036 Centerline is valid? [True, True] Translation: X:289.37, Y:9.02, Z:-1.78 [[ 9.99959300e-01 4.13818569e-03 8.01710128e-03 2.89370711e+02] [-4.13734126e-03 9.99991434e-01 -1.21910686e-04 9.01888405e+00] [-8.01753710e-03 8.87362405e-05 9.99967855e-01 -1.78331139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20439141799994 meters 0.05486603491128822 Centerline is valid? [True, True] Translation: X:289.43, Y:9.02, Z:-1.78 [[ 9.99883660e-01 1.15942199e-02 9.91161166e-03 2.89431196e+02] [-1.15932927e-02 9.99932784e-01 -1.50999241e-04 9.01773606e+00] [-9.91269616e-03 3.60734584e-05 9.99950867e-01 -1.78114366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26439141799995 meters 0.05511194522745695 Centerline is valid? [True, True] Translation: X:289.49, Y:9.02, Z:-1.78 [[ 9.99827943e-01 1.57388497e-02 9.81698488e-03 2.89492657e+02] [-1.57381368e-02 9.99876137e-01 -1.49872605e-04 9.01602326e+00] [-9.81812774e-03 -4.65423277e-06 9.99951801e-01 -1.78273705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32439141799995 meters 0.05417340915367762 Centerline is valid? [True, True] Translation: X:289.55, Y:9.01, Z:-1.79 [[ 9.99869936e-01 1.35112900e-02 8.80658818e-03 2.89553199e+02] [-1.35106291e-02 9.99908718e-01 -1.34533927e-04 9.00915770e+00] [-8.80760203e-03 1.55338821e-05 9.99961212e-01 -1.78545973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38439141799995 meters 0.05473922804374708 Centerline is valid? [True, True] Translation: X:289.61, Y:9.00, Z:-1.79 [[ 9.99955421e-01 6.89312168e-03 6.45303072e-03 2.89613837e+02] [-6.89262894e-03 9.99976241e-01 -9.85939890e-05 8.99966854e+00] [-6.45355703e-03 5.41112474e-05 9.99979174e-01 -1.78762811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44439141799995 meters 0.054785975249263166 Centerline is valid? [True, True] Translation: X:289.67, Y:8.99, Z:-1.79 [[ 9.99986947e-01 1.39192308e-03 4.91606670e-03 2.89673885e+02] [-1.39156995e-03 9.99999029e-01 -7.52508243e-05 8.99133358e+00] [-4.91616667e-03 6.84087914e-05 9.99987913e-01 -1.78897630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50439141799995 meters 0.056108636115679046 Centerline is valid? [True, True] Translation: X:289.73, Y:8.98, Z:-1.79 [[ 9.99977323e-01 -5.09076155e-03 4.40876396e-03 2.89734617e+02] [ 5.09110873e-03 9.99987038e-01 -6.75265582e-05 8.98407202e+00] [-4.40836305e-03 8.99705235e-05 9.99990279e-01 -1.78891479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56439141799996 meters 0.05636560639855242 Centerline is valid? [True, True] Translation: X:289.80, Y:8.98, Z:-1.79 [[ 9.99968068e-01 -6.34983143e-03 4.85208292e-03 2.89795694e+02] [ 6.35026649e-03 9.99979834e-01 -7.42619005e-05 8.97608885e+00] [-4.85151352e-03 1.05071549e-04 9.99988226e-01 -1.78909992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62439141799996 meters 0.055492128467480153 Centerline is valid? [True, True] Translation: X:289.86, Y:8.98, Z:-1.79 [[ 9.99958614e-01 -5.28221244e-03 7.40734271e-03 2.89857516e+02] [ 5.28320160e-03 9.99986037e-01 -1.13977067e-04 8.97560438e+00] [-7.40663723e-03 1.53106835e-04 9.99972559e-01 -1.78776188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68439141799996 meters 0.05577831019734271 Centerline is valid? [True, True] Translation: X:289.92, Y:8.97, Z:-1.79 [[ 9.99965844e-01 -3.74720793e-03 7.36678122e-03 2.89918413e+02] [ 3.74814635e-03 9.99992969e-01 -1.13582602e-04 8.96855818e+00] [-7.36630381e-03 1.41190496e-04 9.99972858e-01 -1.78750030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74439141799996 meters 0.055751220269614925 Centerline is valid? [True, True] Translation: X:289.98, Y:8.96, Z:-1.79 [[ 9.99970618e-01 -4.80874687e-03 5.96990389e-03 2.89980654e+02] [ 4.80938275e-03 9.99988431e-01 -9.21631279e-05 8.96261136e+00] [-5.96939163e-03 1.20871973e-04 9.99982176e-01 -1.78844673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80439141799997 meters 0.056393438825008045 Centerline is valid? [True, True] Translation: X:290.04, Y:8.96, Z:-1.79 [[ 9.99969794e-01 -5.84614780e-03 5.12188177e-03 2.90042317e+02] [ 5.84663003e-03 9.99982905e-01 -7.91826764e-05 8.95856765e+00] [-5.12133129e-03 1.09126032e-04 9.99986880e-01 -1.78932344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86439141799997 meters 0.05584561922966478 Centerline is valid? [True, True] Translation: X:290.10, Y:8.95, Z:-1.79 [[ 9.99963160e-01 -6.58375147e-03 5.50750929e-03 2.90104757e+02] [ 6.58432380e-03 9.99978319e-01 -8.57928387e-05 8.95452731e+00] [-5.50682505e-03 1.22052903e-04 9.99984830e-01 -1.78965827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92439141799997 meters 0.05609918376201642 Centerline is valid? [True, True] Translation: X:290.17, Y:8.96, Z:-1.79 [[ 9.99980441e-01 -4.17966041e-03 4.65277935e-03 2.90166488e+02] [ 4.18004346e-03 9.99991261e-01 -7.26067396e-05 8.95854096e+00] [-4.65243522e-03 9.20541393e-05 9.99989173e-01 -1.79054629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters 0.055983311347138964 Centerline is valid? [True, True] Translation: X:290.23, Y:8.96, Z:-1.79 [[ 9.99994019e-01 -8.38346471e-04 3.35549285e-03 2.90227827e+02] [ 8.38527034e-04 9.99999647e-01 -5.24048423e-05 8.95826126e+00] [-3.35544773e-03 5.52182003e-05 9.99994369e-01 -1.79145646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters 0.05635284743241098 Centerline is valid? [True, True] Translation: X:290.29, Y:8.96, Z:-1.79 [[ 9.99988028e-01 4.39199858e-03 2.15738714e-03 2.90289279e+02] [-4.39193603e-03 9.99990355e-01 -3.37304781e-05 8.96000933e+00] [-2.15751448e-03 2.42549680e-05 9.99997672e-01 -1.79232674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters 0.056225790688264096 Centerline is valid? [True, True] Translation: X:290.35, Y:8.96, Z:-1.79 [[ 9.99966842e-01 7.69037926e-03 2.67821909e-03 2.90349527e+02] [-7.69029439e-03 9.99970428e-01 -4.19885972e-05 8.96097335e+00] [-2.67846280e-03 2.13909117e-05 9.99996413e-01 -1.79131822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters 0.05555219265963201 Centerline is valid? [True, True] Translation: X:290.41, Y:8.96, Z:-1.79 [[ 9.99964662e-01 7.90548194e-03 2.85963889e-03 2.90408670e+02] [-7.90538597e-03 9.99968751e-01 -4.48598781e-05 8.96029319e+00] [-2.85990416e-03 2.22517438e-05 9.99995910e-01 -1.79107099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters 0.05590727119851385 Centerline is valid? [True, True] Translation: X:290.47, Y:8.95, Z:-1.79 [[ 9.99972689e-01 6.07330549e-03 4.21151209e-03 2.90468236e+02] [-6.07308136e-03 9.99981557e-01 -6.60058899e-05 8.95462587e+00] [-4.21183529e-03 4.04272317e-05 9.99991129e-01 -1.79128200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters 0.05567071524205714 Centerline is valid? [True, True] Translation: X:290.53, Y:8.95, Z:-1.79 [[ 9.99982042e-01 3.20287147e-03 5.06533540e-03 2.90529402e+02] [-3.20251080e-03 9.99994869e-01 -7.93146673e-05 8.95353734e+00] [-5.06556345e-03 6.30914517e-05 9.99987168e-01 -1.79032071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters 0.055580809147285984 Centerline is valid? [True, True] Translation: X:290.59, Y:8.95, Z:-1.79 [[ 9.99985302e-01 9.88569036e-04 5.33096940e-03 2.90590962e+02] [-9.88137671e-04 9.99999508e-01 -8.35501587e-05 8.95016592e+00] [-5.33104937e-03 7.82811990e-05 9.99985787e-01 -1.79043987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters 0.05694289742398296 Centerline is valid? [True, True] Translation: X:290.65, Y:8.94, Z:-1.79 [[ 9.99988186e-01 1.27847465e-04 4.85927251e-03 2.90651719e+02] [-1.27478841e-04 9.99999989e-01 -7.61697120e-05 8.94030172e+00] [-4.85928219e-03 7.55493577e-05 9.99988191e-01 -1.79081254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters 0.056181442624762504 Centerline is valid? [True, True] Translation: X:290.71, Y:8.94, Z:-1.79 [[ 9.99990094e-01 -8.56142497e-04 4.36787240e-03 2.90713538e+02] [ 8.56452118e-04 9.99999631e-01 -6.90160794e-05 8.93556469e+00] [-4.36781170e-03 7.27562693e-05 9.99990458e-01 -1.79159794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters 0.056228784500537206 Centerline is valid? [True, True] Translation: X:290.78, Y:8.94, Z:-1.79 [[ 9.99992149e-01 -2.33498532e-03 3.20159440e-03 2.90775544e+02] [ 2.33515873e-03 9.99997272e-01 -5.04259205e-05 8.93685233e+00] [-3.20146792e-03 5.79017557e-05 9.99994874e-01 -1.79248365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58439141799994 meters 0.0573080315699336 Centerline is valid? [True, True] Translation: X:290.84, Y:8.93, Z:-1.79 [[ 9.99994778e-01 -2.45334060e-03 2.10381211e-03 2.90836958e+02] [ 2.45341622e-03 9.99996990e-01 -3.33631537e-05 8.92604794e+00] [-2.10372392e-03 3.85245062e-05 9.99997786e-01 -1.79426517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64439141799994 meters 0.05621220063211149 Centerline is valid? [True, True] Translation: X:290.90, Y:8.93, Z:-1.79 [[ 9.99993092e-01 -2.82199256e-03 2.41899374e-03 2.90898942e+02] [ 2.82209361e-03 9.99996017e-01 -3.83620611e-05 8.92829600e+00] [-2.41887584e-03 4.51884229e-05 9.99997073e-01 -1.79287731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70439141799994 meters 0.05691420143076054 Centerline is valid? [True, True] Translation: X:290.96, Y:8.92, Z:-1.79 [[ 9.99995471e-01 -2.48518262e-03 1.69765498e-03 2.90960010e+02] [ 2.48523255e-03 9.99996911e-01 -2.73046746e-05 8.92015730e+00] [-1.69758188e-03 3.15236184e-05 9.99998559e-01 -1.79419974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76439141799995 meters 0.0566217048026682 Centerline is valid? [True, True] Translation: X:291.02, Y:8.92, Z:-1.79 [[ 9.99993576e-01 -3.08567189e-03 1.82408703e-03 2.91021259e+02] [ 3.08573064e-03 9.99995239e-01 -2.93954336e-05 8.91923200e+00] [-1.82398764e-03 3.50238860e-05 9.99998336e-01 -1.79336549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82439141799995 meters 0.05703789287186403 Centerline is valid? [True, True] Translation: X:291.08, Y:8.92, Z:-1.79 [[ 9.99987220e-01 -4.51606851e-03 2.27266685e-03 2.91083266e+02] [ 4.51616281e-03 9.99989801e-01 -3.63657166e-05 8.91607629e+00] [-2.27247945e-03 4.66289853e-05 9.99997417e-01 -1.79237115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88439141799995 meters 0.05662775548943687 Centerline is valid? [True, True] Translation: X:291.14, Y:8.91, Z:-1.79 [[ 9.99982231e-01 -5.76829779e-03 1.50483918e-03 2.91144167e+02] [ 5.76834052e-03 9.99983363e-01 -2.40559305e-05 8.90880290e+00] [-1.50467538e-03 3.27359279e-05 9.99998867e-01 -1.79319899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94439141799995 meters 0.05765254684347755 Centerline is valid? [True, True] Translation: X:291.21, Y:8.91, Z:-1.79 [[ 9.99980554e-01 -6.21367991e-03 5.30426272e-04 2.91205968e+02] [ 6.21368531e-03 9.99980695e-01 -8.53076826e-06 8.90574526e+00] [-5.30363025e-04 1.18265043e-05 9.99999859e-01 -1.79411906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00439141799995 meters 0.057079207113577654 Centerline is valid? [True, True] Translation: X:291.27, Y:8.91, Z:-1.79 [[ 9.99987421e-01 -4.88463884e-03 -1.13928831e-03 2.91267822e+02] [ 4.88466357e-03 9.99988070e-01 1.89233693e-05 8.90606973e+00] [ 1.13918228e-03 -2.44881714e-05 9.99999351e-01 -1.79385610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06439141799996 meters 0.0572889753755472 Centerline is valid? [True, True] Translation: X:291.33, Y:8.90, Z:-1.79 [[ 9.99996315e-01 -2.51199271e-03 -1.02984981e-03 2.91328435e+02] [ 2.51201158e-03 9.99996845e-01 1.70304095e-05 8.90458021e+00] [ 1.02980378e-03 -1.96173414e-05 9.99999470e-01 -1.79323429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12439141799996 meters 0.05690698128320217 Centerline is valid? [True, True] Translation: X:291.39, Y:8.90, Z:-1.79 [[ 9.99997609e-01 1.94193047e-03 -1.00543260e-03 2.91388050e+02] [-1.94191484e-03 9.99998114e-01 1.65190572e-05 8.90223188e+00] [ 1.00546278e-03 -1.45665533e-05 9.99999494e-01 -1.79330810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18439141799996 meters 0.05758707118438836 Centerline is valid? [True, True] Translation: X:291.45, Y:8.90, Z:-1.79 [[ 9.99986709e-01 4.47938749e-03 -2.55274565e-03 2.91447597e+02] [-4.47929503e-03 9.99989967e-01 4.19347124e-05 8.90140589e+00] [ 2.55290788e-03 -3.04996542e-05 9.99996741e-01 -1.79325883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24439141799996 meters 0.05787232966790067 Centerline is valid? [True, True] Translation: X:291.51, Y:8.90, Z:-1.79 [[ 9.99990643e-01 1.84964011e-03 -3.91065091e-03 2.91507447e+02] [-1.84940279e-03 9.99998288e-01 6.43015939e-05 8.89661828e+00] [ 3.91076315e-03 -5.70686235e-05 9.99992351e-01 -1.79303048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30439141799997 meters 0.05788720825959235 Centerline is valid? [True, True] Translation: X:291.57, Y:8.89, Z:-1.79 [[ 9.99988359e-01 -1.83996017e-03 -4.46050788e-03 2.91566159e+02] [ 1.84030469e-03 9.99998304e-01 7.31352825e-05 8.89129162e+00] [ 4.46036575e-03 -8.13431247e-05 9.99990049e-01 -1.79323792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36439141799997 meters 0.059520332941434426 Centerline is valid? [True, True] Translation: X:291.63, Y:8.88, Z:-1.79 [[ 9.99956226e-01 -8.40321714e-03 -4.11486269e-03 2.91626283e+02] [ 8.40356678e-03 9.99964687e-01 6.76882592e-05 8.88204668e+00] [ 4.11414858e-03 -1.02264820e-04 9.99991532e-01 -1.79228033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42439141799997 meters 0.05843079692497166 Centerline is valid? [True, True] Translation: X:291.69, Y:8.88, Z:-1.79 [[ 9.99879870e-01 -1.51368697e-02 -3.33485067e-03 2.91686728e+02] [ 1.51371367e-02 9.99885425e-01 5.48328896e-05 8.88408907e+00] [ 3.33363858e-03 -1.05306393e-04 9.99994438e-01 -1.78810771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters 0.060101315252834124 Centerline is valid? [True, True] Translation: X:291.75, Y:8.87, Z:-1.79 [[ 9.99813419e-01 -1.90457567e-02 -3.22286350e-03 2.91745780e+02] [ 1.90460261e-02 9.99818607e-01 5.29190362e-05 8.87186081e+00] [ 3.22127101e-03 -1.14291905e-04 9.99994805e-01 -1.79060815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters 0.05976010572753036 Centerline is valid? [True, True] Translation: X:291.81, Y:8.88, Z:-1.79 [[ 9.99725489e-01 -2.29773628e-02 -4.58127169e-03 2.91805865e+02] [ 2.29779486e-02 9.99735969e-01 7.52785115e-05 8.87693273e+00] [ 4.57833239e-03 -1.80526072e-04 9.99989503e-01 -1.78934347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters 0.05834353137144022 Centerline is valid? [True, True] Translation: X:291.87, Y:8.88, Z:-1.79 [[ 9.99661766e-01 -2.55741426e-02 -4.72417638e-03 2.91867303e+02] [ 2.55747954e-02 9.99672908e-01 7.78168267e-05 8.88183778e+00] [ 4.72064104e-03 -1.98610351e-04 9.99988838e-01 -1.78783622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters 0.05908554506916048 Centerline is valid? [True, True] Translation: X:291.93, Y:8.88, Z:-1.79 [[ 9.99588359e-01 -2.83087826e-02 -4.66114914e-03 2.91926462e+02] [ 2.83094479e-02 9.99599204e-01 7.68121034e-05 8.87590931e+00] [ 4.65710651e-03 -2.08735043e-04 9.99989134e-01 -1.78808444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters 0.05895740549466518 Centerline is valid? [True, True] Translation: X:291.99, Y:8.88, Z:-1.79 [[ 9.99511424e-01 -3.08540701e-02 -4.99404125e-03 2.91986620e+02] [ 3.08548653e-02 9.99523872e-01 8.22324224e-05 8.87581422e+00] [ 4.98912625e-03 -2.36282716e-04 9.99987526e-01 -1.78819870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters 0.05827197460840159 Centerline is valid? [True, True] Translation: X:292.05, Y:8.88, Z:-1.79 [[ 9.99355166e-01 -3.54048465e-02 -5.97911534e-03 2.92046971e+02] [ 3.54060675e-02 9.99373004e-01 9.84490291e-05 8.88384714e+00] [ 5.97188089e-03 -3.10082507e-04 9.99982120e-01 -1.78649518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters 0.0609829593817722 Centerline is valid? [True, True] Translation: X:292.11, Y:8.87, Z:-1.79 [[ 9.99233738e-01 -3.86928430e-02 -5.89915122e-03 2.92106839e+02] [ 3.86940899e-02 9.99251099e-01 9.73412611e-05 8.87046677e+00] [ 5.89096693e-03 -3.25528960e-04 9.99982595e-01 -1.78985011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters 0.05855366689432661 Centerline is valid? [True, True] Translation: X:292.17, Y:8.88, Z:-1.79 [[ 9.99002740e-01 -4.41525758e-02 -6.63887984e-03 2.92167791e+02] [ 4.41542755e-02 9.99024718e-01 1.09590897e-04 8.88232486e+00] [ 6.62756634e-03 -4.02616535e-04 9.99977956e-01 -1.78717734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters 0.058050043859708716 Centerline is valid? [True, True] Translation: X:292.23, Y:8.89, Z:-1.79 [[ 9.98846422e-01 -4.76095998e-02 -6.25708886e-03 2.92228844e+02] [ 4.76111772e-02 9.98865940e-01 1.03301579e-04 8.88752928e+00] [ 6.24507479e-03 -4.01089779e-04 9.99980419e-01 -1.78627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters 0.05734874436286332 Centerline is valid? [True, True] Translation: X:292.29, Y:8.90, Z:-1.79 [[ 9.98873825e-01 -4.72110269e-02 -4.71171909e-03 2.92290366e+02] [ 4.72119176e-02 9.98884893e-01 7.79328773e-05 8.89757566e+00] [ 4.70278573e-03 -3.00294405e-04 9.99988897e-01 -1.78525644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08439141799994 meters 0.0582757525144112 Centerline is valid? [True, True] Translation: X:292.35, Y:8.90, Z:-1.79 [[ 9.99039123e-01 -4.37111991e-02 -3.18773896e-03 2.92349558e+02] [ 4.37115884e-02 9.99044190e-01 5.25441568e-05 8.89637681e+00] [ 3.18239532e-03 -1.91834802e-04 9.99994918e-01 -1.78558477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14439141799994 meters 0.05824606748752997 Centerline is valid? [True, True] Translation: X:292.41, Y:8.91, Z:-1.79 [[ 9.99420222e-01 -3.39758615e-02 -2.20458671e-03 2.92409974e+02] [ 3.39760243e-02 9.99422648e-01 3.64164991e-05 8.90552277e+00] [ 2.20207660e-03 -1.11298477e-04 9.99997569e-01 -1.78549199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20439141799994 meters 0.0576099686949506 Centerline is valid? [True, True] Translation: X:292.47, Y:8.91, Z:-1.79 [[ 9.99762112e-01 -2.17086611e-02 -2.11039463e-03 2.92470102e+02] [ 2.17087829e-02 9.99764336e-01 3.48660140e-05 8.91327315e+00] [ 2.10914039e-03 -8.06718188e-05 9.99997773e-01 -1.78594601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26439141799995 meters 0.057791006841336194 Centerline is valid? [True, True] Translation: X:292.53, Y:8.91, Z:-1.79 [[ 9.99930135e-01 -1.14205729e-02 -3.04872777e-03 2.92530696e+02] [ 1.14207795e-02 9.99934780e-01 5.03475990e-05 8.91335914e+00] [ 3.04795393e-03 -8.51629289e-05 9.99995351e-01 -1.78888039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32439141799995 meters 0.057690761235962264 Centerline is valid? [True, True] Translation: X:292.59, Y:8.92, Z:-1.79 [[ 9.99969779e-01 -7.03692863e-03 -3.30483744e-03 2.92591419e+02] [ 7.03714772e-03 9.99975237e-01 5.46708441e-05 8.91610886e+00] [ 3.30437089e-03 -7.79258212e-05 9.99994538e-01 -1.79030691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38439141799995 meters 0.05677573244193631 Centerline is valid? [True, True] Translation: X:292.65, Y:8.92, Z:-1.79 [[ 9.99986041e-01 -3.92762866e-03 -3.53428642e-03 2.92652164e+02] [ 3.92785959e-03 9.99992284e-01 5.83995527e-05 8.92489710e+00] [ 3.53402977e-03 -7.22809183e-05 9.99993753e-01 -1.78903756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44439141799995 meters 0.056840336456897615 Centerline is valid? [True, True] Translation: X:292.71, Y:8.92, Z:-1.79 [[ 9.99985030e-01 -3.96967473e-03 -3.76570700e-03 2.92711853e+02] [ 3.96993715e-03 9.99992118e-01 6.22153869e-05 8.92151718e+00] [ 3.76543034e-03 -7.71640757e-05 9.99992908e-01 -1.79155309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50439141799995 meters 0.057336846198642676 Centerline is valid? [True, True] Translation: X:292.77, Y:8.92, Z:-1.79 [[ 9.99970096e-01 -7.16650291e-03 -2.90656391e-03 2.92772356e+02] [ 7.16667276e-03 9.99974318e-01 4.80248377e-05 8.92225133e+00] [ 2.90614510e-03 -6.88537940e-05 9.99995775e-01 -1.79025406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56439141799996 meters 0.0571171902235439 Centerline is valid? [True, True] Translation: X:292.83, Y:8.92, Z:-1.79 [[ 9.99931157e-01 -1.16209947e-02 -1.62269624e-03 2.92833519e+02] [ 1.16210537e-02 9.99932473e-01 2.69040813e-05 8.91923316e+00] [ 1.62227402e-03 -4.57596693e-05 9.99998683e-01 -1.78975776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62439141799996 meters 0.05751473357562836 Centerline is valid? [True, True] Translation: X:292.89, Y:8.91, Z:-1.79 [[ 9.99869537e-01 -1.61329401e-02 -7.98140084e-04 2.92892480e+02] [ 1.61329557e-02 9.99869855e-01 1.30930089e-05 8.91292717e+00] [ 7.97824981e-04 -2.59676593e-05 9.99999681e-01 -1.78970340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68439141799996 meters 0.058341406956959274 Centerline is valid? [True, True] Translation: X:292.95, Y:8.91, Z:-1.79 [[ 9.99840158e-01 -1.78735232e-02 -4.41605938e-04 2.92952094e+02] [ 1.78735282e-02 9.99840256e-01 7.54450563e-06 8.90934269e+00] [ 4.41400547e-04 -1.54363559e-05 9.99999902e-01 -1.79044186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74439141799996 meters 0.056954972541862395 Centerline is valid? [True, True] Translation: X:293.01, Y:8.92, Z:-1.79 [[ 9.99732327e-01 -2.31319531e-02 -4.31660393e-04 2.93013441e+02] [ 2.31319584e-02 9.99732420e-01 7.23846440e-06 8.91536421e+00] [ 4.31377449e-04 -1.72216771e-05 9.99999907e-01 -1.78952657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80439141799997 meters 0.05930773245403504 Centerline is valid? [True, True] Translation: X:293.07, Y:8.90, Z:-1.79 [[ 9.99671509e-01 -2.56144461e-02 -8.80245793e-04 2.93073317e+02] [ 2.56144689e-02 9.99671896e-01 1.45708486e-05 8.90474778e+00] [ 8.79583756e-04 -3.71130906e-05 9.99999612e-01 -1.79135874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86439141799997 meters 0.05847911289833643 Centerline is valid? [True, True] Translation: X:293.13, Y:8.91, Z:-1.79 [[ 9.99631293e-01 -2.71132644e-02 -1.46605949e-03 2.93134907e+02] [ 2.71133293e-02 9.99632366e-01 2.44090705e-05 8.90639262e+00] [ 1.46485870e-03 -6.41498244e-05 9.99998925e-01 -1.79170030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92439141799997 meters 0.05778386668076504 Centerline is valid? [True, True] Translation: X:293.20, Y:8.91, Z:-1.79 [[ 9.99665319e-01 -2.58225645e-02 -1.56365378e-03 2.93196656e+02] [ 2.58226370e-02 9.99666540e-01 2.61729235e-05 8.90905610e+00] [ 1.56245651e-03 -6.65418279e-05 9.99998777e-01 -1.79278650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters 0.057795412777973794 Centerline is valid? [True, True] Translation: X:293.26, Y:8.91, Z:-1.79 [[ 9.99743020e-01 -2.25866652e-02 -1.93326435e-03 2.93257049e+02] [ 2.25867696e-02 9.99744886e-01 3.21410900e-05 8.90985158e+00] [ 1.93204518e-03 -7.57990267e-05 9.99998131e-01 -1.79372352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters 0.056774846836466275 Centerline is valid? [True, True] Translation: X:293.32, Y:8.92, Z:-1.79 [[ 9.99899454e-01 -1.41523801e-02 -8.90050308e-04 2.93318270e+02] [ 1.41523990e-02 9.99899850e-01 1.49018026e-05 8.91988648e+00] [ 8.89750273e-04 -2.74966514e-05 9.99999604e-01 -1.79351615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters 0.057252046738569956 Centerline is valid? [True, True] Translation: X:293.38, Y:8.92, Z:-1.79 [[ 9.99970555e-01 -7.60143816e-03 -1.05199839e-03 2.93377839e+02] [ 7.60146071e-03 9.99971108e-01 1.74364488e-05 8.91871611e+00] [ 1.05183546e-03 -2.54326598e-05 9.99999446e-01 -1.79486393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters 0.05726969187326196 Centerline is valid? [True, True] Translation: X:293.44, Y:8.93, Z:-1.79 [[ 9.99999359e-01 5.73405002e-04 -9.76323942e-04 2.93438466e+02] [-5.73389376e-04 9.99999836e-01 1.62848627e-05 8.92529472e+00] [ 9.76333119e-04 -1.57250384e-05 9.99999523e-01 -1.79462774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters 0.0560618034641743 Centerline is valid? [True, True] Translation: X:293.50, Y:8.93, Z:-1.80 [[ 9.99987123e-01 4.93476862e-03 -1.18394010e-03 2.93498434e+02] [-4.93474899e-03 9.99987824e-01 1.94937301e-05 8.92624288e+00] [ 1.18402188e-03 -1.36510318e-05 9.99999299e-01 -1.79542172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters 0.05681646326362094 Centerline is valid? [True, True] Translation: X:293.56, Y:8.92, Z:-1.80 [[ 9.99983724e-01 5.37444657e-03 -1.91500607e-03 2.93556754e+02] [-5.37439581e-03 9.99985557e-01 3.16516875e-05 8.92452732e+00] [ 1.91514853e-03 -2.13591717e-05 9.99998166e-01 -1.79671570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters 0.05667831581213114 Centerline is valid? [True, True] Translation: X:293.62, Y:8.92, Z:-1.80 [[ 9.99994952e-01 2.72443444e-03 -1.63478610e-03 2.93616290e+02] [-2.72439395e-03 9.99996288e-01 2.69892315e-05 8.92362586e+00] [ 1.63485356e-03 -2.25352939e-05 9.99998663e-01 -1.79652303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters 0.056255742440203 Centerline is valid? [True, True] Translation: X:293.68, Y:8.92, Z:-1.80 [[ 9.99997886e-01 -1.24966516e-03 -1.63272995e-03 2.93676807e+02] [ 1.24971100e-03 9.99999219e-01 2.70551020e-05 8.91980337e+00] [ 1.63269486e-03 -2.90954854e-05 9.99998667e-01 -1.79782637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters 0.05669118633647733 Centerline is valid? [True, True] Translation: X:293.74, Y:8.91, Z:-1.80 [[ 9.99954664e-01 -9.50327750e-03 -5.98849611e-04 2.93737562e+02] [ 9.50328515e-03 9.99954843e-01 9.93156320e-06 8.91374789e+00] [ 5.98728186e-04 -1.56221516e-05 9.99999821e-01 -1.79771998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters 0.05663015868931169 Centerline is valid? [True, True] Translation: X:293.80, Y:8.91, Z:-1.80 [[ 9.99873687e-01 -1.58902950e-02 3.30279870e-04 2.93797242e+02] [ 1.58902976e-02 9.99873741e-01 -5.27590861e-06 8.90738412e+00] [-3.30154333e-04 1.05234876e-05 9.99999945e-01 -1.79775401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58439141799994 meters 0.05851225584597699 Centerline is valid? [True, True] Translation: X:293.86, Y:8.90, Z:-1.80 [[ 9.99671679e-01 -2.55800668e-02 1.48133523e-03 2.93856529e+02] [ 2.55801313e-02 9.99672775e-01 -2.45606307e-05 8.89826872e+00] [-1.48022223e-03 6.24453165e-05 9.99998903e-01 -1.79774356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64439141799994 meters 0.05679005111665329 Centerline is valid? [True, True] Translation: X:293.92, Y:8.90, Z:-1.80 [[ 9.99381162e-01 -3.50612086e-02 2.82927092e-03 2.93916912e+02] [ 3.50614818e-02 9.99385156e-01 -4.70041546e-05 8.89914642e+00] [-2.82588334e-03 1.46173498e-04 9.99995996e-01 -1.79816182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70439141799994 meters 0.05796292781802052 Centerline is valid? [True, True] Translation: X:293.98, Y:8.89, Z:-1.80 [[ 9.99174075e-01 -4.05332542e-02 2.86774913e-03 2.93976590e+02] [ 4.05335574e-02 9.99178177e-01 -4.76468701e-05 8.89210042e+00] [-2.86346107e-03 1.63847591e-04 9.99995887e-01 -1.79942859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76439141799995 meters 0.05400638426226521 Centerline is valid? [True, True] Translation: X:294.04, Y:8.91, Z:-1.80 [[ 9.98952286e-01 -4.56253085e-02 3.55844327e-03 2.94037795e+02] [ 4.56258075e-02 9.98958599e-01 -5.91336210e-05 8.91405842e+00] [-3.55203952e-03 2.21428514e-04 9.99993667e-01 -1.79987496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82439141799995 meters 0.058436313660493136 Centerline is valid? [True, True] Translation: X:294.10, Y:8.89, Z:-1.80 [[ 9.98939038e-01 -4.59648937e-02 2.83313194e-03 2.94098914e+02] [ 4.59652104e-02 9.98943040e-01 -4.67404435e-05 8.89207236e+00] [-2.82798901e-03 1.76916359e-04 9.99995986e-01 -1.80174501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88439141799995 meters 0.05546033280888117 Centerline is valid? [True, True] Translation: X:294.16, Y:8.91, Z:-1.80 [[ 9.99041971e-01 -4.35824593e-02 3.96361164e-03 2.94159568e+02] [ 4.35830640e-02 9.99049805e-01 -6.62940613e-05 8.90986519e+00] [-3.95695618e-03 2.38976890e-04 9.99992143e-01 -1.80303260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94439141799995 meters 0.05739117398163515 Centerline is valid? [True, True] Translation: X:294.22, Y:8.90, Z:-1.80 [[ 9.99170299e-01 -4.06111786e-02 3.07345351e-03 2.94218828e+02] [ 4.06115283e-02 9.99175010e-01 -5.14302157e-05 8.90225418e+00] [-3.06882930e-03 1.76205188e-04 9.99995276e-01 -1.80462727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00439141799995 meters 0.05465428162038479 Centerline is valid? [True, True] Translation: X:294.28, Y:8.92, Z:-1.81 [[ 9.99397229e-01 -3.45135839e-02 3.74049236e-03 2.94280351e+02] [ 3.45140589e-02 9.99404210e-01 -6.25143257e-05 8.91949752e+00] [-3.73610622e-03 1.91576218e-04 9.99993002e-01 -1.80570193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06439141799996 meters 0.054220412322168815 Centerline is valid? [True, True] Translation: X:294.34, Y:8.93, Z:-1.81 [[ 9.99659387e-01 -2.58038812e-02 3.90769383e-03 2.94340689e+02] [ 2.58043334e-02 9.99667011e-01 -6.53453882e-05 8.92880740e+00] [-3.90470644e-03 1.66158565e-04 9.99992363e-01 -1.80596821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12439141799996 meters 0.0545482972266427 Centerline is valid? [True, True] Translation: X:294.40, Y:8.93, Z:-1.81 [[ 9.99816690e-01 -1.83159208e-02 5.57800139e-03 2.94401471e+02] [ 1.83167260e-02 9.99832230e-01 -9.32899675e-05 8.93185200e+00] [-5.57535687e-03 1.95443590e-04 9.99984438e-01 -1.80672226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18439141799996 meters 0.05564023907121094 Centerline is valid? [True, True] Translation: X:294.46, Y:8.94, Z:-1.81 [[ 9.99960305e-01 -6.39209303e-03 6.20724563e-03 2.94461569e+02] [ 6.39286087e-03 9.99979560e-01 -1.03866590e-04 8.93983176e+00] [-6.20645483e-03 1.43544525e-04 9.99980729e-01 -1.80710318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24439141799996 meters 0.05483973260815663 Centerline is valid? [True, True] Translation: X:294.52, Y:8.95, Z:-1.81 [[ 9.99964454e-01 4.45435962e-03 7.15887374e-03 2.94521770e+02] [-4.45361590e-03 9.99990075e-01 -1.19827239e-04 8.94848224e+00] [-7.15933645e-03 8.79401062e-05 9.99974368e-01 -1.80778295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30439141799997 meters 0.0543585929031023 Centerline is valid? [True, True] Translation: X:294.58, Y:8.95, Z:-1.81 [[ 9.99919049e-01 1.00251854e-02 7.83528180e-03 2.94582653e+02] [-1.00244653e-02 9.99949745e-01 -1.31174304e-04 8.95227086e+00] [-7.83620308e-03 5.26191746e-05 9.99969295e-01 -1.80846534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36439141799997 meters 0.05455289522214469 Centerline is valid? [True, True] Translation: X:294.64, Y:8.96, Z:-1.81 [[ 9.99842746e-01 1.57309932e-02 8.18648490e-03 2.94643685e+02] [-1.57303974e-02 9.99876260e-01 -1.37176643e-04 8.95655989e+00] [-8.18762983e-03 8.37841106e-06 9.99966481e-01 -1.81015656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42439141799997 meters 0.055395590920575825 Centerline is valid? [True, True] Translation: X:294.70, Y:8.96, Z:-1.81 [[ 9.99793661e-01 1.83914719e-02 8.62496462e-03 2.94702805e+02] [-1.83909106e-02 9.99830862e-01 -1.44402825e-04 8.95788993e+00] [-8.62616160e-03 -1.42479239e-05 9.99962794e-01 -1.81097078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters 0.05487252393110971 Centerline is valid? [True, True] Translation: X:294.76, Y:8.96, Z:-1.81 [[ 9.99740492e-01 2.09657661e-02 8.90985221e-03 2.94760240e+02] [-2.09652746e-02 9.99780193e-01 -1.48567873e-04 8.95878536e+00] [-8.91100860e-03 -3.82681797e-05 9.99960295e-01 -1.81190768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters 0.05423588759702119 Centerline is valid? [True, True] Translation: X:294.82, Y:8.96, Z:-1.81 [[ 9.99786622e-01 1.85643924e-02 9.05948704e-03 2.94819113e+02] [-1.85637900e-02 9.99827667e-01 -1.50590544e-04 8.95592000e+00] [-9.06072141e-03 -1.76200039e-05 9.99958951e-01 -1.81193063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters 0.054411895235445665 Centerline is valid? [True, True] Translation: X:294.88, Y:8.95, Z:-1.81 [[ 9.99815464e-01 1.61539986e-02 1.03964275e-02 2.94878503e+02] [-1.61530775e-02 9.99869516e-01 -1.72565850e-04 8.95256930e+00] [-1.03978586e-02 4.59970567e-06 9.99945941e-01 -1.81360756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters 0.055691985133167095 Centerline is valid? [True, True] Translation: X:294.94, Y:8.94, Z:-1.81 [[ 9.99943485e-01 5.98664332e-03 8.78556744e-03 2.94938583e+02] [-5.98559367e-03 9.99982076e-01 -1.45764130e-04 8.94243883e+00] [-8.78628260e-03 9.31690557e-05 9.99961396e-01 -1.81465035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters 0.05463804496330767 Centerline is valid? [True, True] Translation: X:295.00, Y:8.93, Z:-1.82 [[ 9.99929772e-01 -6.78806269e-03 9.71461260e-03 2.94999290e+02] [ 6.78994960e-03 9.99976935e-01 -1.61266142e-04 8.93116067e+00] [-9.71329385e-03 2.27216547e-04 9.99952799e-01 -1.81573453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters 0.056112863526577295 Centerline is valid? [True, True] Translation: X:295.06, Y:8.92, Z:-1.82 [[ 9.99856049e-01 -1.43190094e-02 9.10201309e-03 2.95058666e+02] [ 1.43209778e-02 9.99897438e-01 -1.51116993e-04 8.91740702e+00] [-9.09891573e-03 2.81444967e-04 9.99958564e-01 -1.81535827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters 0.05326377592349644 Centerline is valid? [True, True] Translation: X:295.12, Y:8.93, Z:-1.82 [[ 9.99703761e-01 -2.21197878e-02 1.01540354e-02 2.95119513e+02] [ 2.21226388e-02 9.99755250e-01 -1.68530089e-04 8.92935605e+00] [-1.01478224e-02 3.93114222e-04 9.99948432e-01 -1.81860536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters 0.05562425903018248 Centerline is valid? [True, True] Translation: X:295.18, Y:8.91, Z:-1.82 [[ 9.99670517e-01 -2.41519902e-02 8.69136648e-03 2.95179446e+02] [ 2.41541563e-02 9.99708235e-01 -1.44317859e-04 8.91132096e+00] [-8.68534508e-03 3.54202933e-04 9.99962219e-01 -1.81687172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters 0.057047870779862446 Centerline is valid? [True, True] Translation: X:295.24, Y:8.90, Z:-1.82 [[ 9.99673545e-01 -2.42388115e-02 8.07984307e-03 2.95240495e+02] [ 2.42406882e-02 9.99706142e-01 -1.34403875e-04 8.90341612e+00] [-8.07421096e-03 3.30220955e-04 9.99967349e-01 -1.81772186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters 0.05441917242762289 Centerline is valid? [True, True] Translation: X:295.30, Y:8.91, Z:-1.82 [[ 9.99734880e-01 -2.15979821e-02 7.98100726e-03 2.95301263e+02] [ 2.15997321e-02 9.99766690e-01 -1.33126552e-04 8.91384304e+00] [-7.97626995e-03 3.05478876e-04 9.99968142e-01 -1.81906910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08439141799994 meters 0.054435224286893805 Centerline is valid? [True, True] Translation: X:295.36, Y:8.91, Z:-1.82 [[ 9.99808995e-01 -1.85136560e-02 6.26238053e-03 2.95362074e+02] [ 1.85146733e-02 9.99828583e-01 -1.04501480e-04 8.91311005e+00] [-6.25937235e-03 2.20427449e-04 9.99980386e-01 -1.81975017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14439141799994 meters 0.054747487601893706 Centerline is valid? [True, True] Translation: X:295.42, Y:8.92, Z:-1.82 [[ 9.99903222e-01 -1.29857926e-02 4.99154339e-03 2.95422750e+02] [ 1.29863702e-02 9.99915670e-01 -8.33218507e-05 8.91847853e+00] [-4.99004046e-03 1.48135817e-04 9.99987539e-01 -1.82019319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20439141799994 meters 0.05553743006848855 Centerline is valid? [True, True] Translation: X:295.48, Y:8.91, Z:-1.82 [[ 9.99960837e-01 -7.61312896e-03 4.51268314e-03 2.95481915e+02] [ 7.61354642e-03 9.99971014e-01 -7.53377120e-05 8.91336456e+00] [-4.51197878e-03 1.09692284e-04 9.99989815e-01 -1.81955210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26439141799995 meters 0.05447487894668224 Centerline is valid? [True, True] Translation: X:295.54, Y:8.92, Z:-1.82 [[ 9.99978291e-01 -4.97079214e-03 4.32537445e-03 2.95543600e+02] [ 4.97115058e-03 9.99987641e-01 -7.21206269e-05 8.91989207e+00] [-4.32496250e-03 9.36211490e-05 9.99990643e-01 -1.81958902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32439141799995 meters 0.05550469101501854 Centerline is valid? [True, True] Translation: X:295.60, Y:8.92, Z:-1.82 [[ 9.99991338e-01 -2.02410156e-03 3.63677686e-03 2.95603655e+02] [ 2.02433579e-03 9.99997949e-01 -6.07263198e-05 8.91701231e+00] [-3.63664649e-03 6.80878514e-05 9.99993385e-01 -1.81983607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38439141799995 meters 0.05450669750731547 Centerline is valid? [True, True] Translation: X:295.67, Y:8.92, Z:-1.82 [[ 9.99989391e-01 -1.42845714e-03 4.37929548e-03 2.95666061e+02] [ 1.42879137e-03 9.99998977e-01 -7.31920119e-05 8.91816105e+00] [-4.37918645e-03 7.94483349e-05 9.99990408e-01 -1.81905010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44439141799995 meters 0.05577054528705391 Centerline is valid? [True, True] Translation: X:295.73, Y:8.91, Z:-1.82 [[ 9.99990342e-01 -2.06401688e-03 3.88014135e-03 2.95726943e+02] [ 2.06428384e-03 9.99997867e-01 -6.47977560e-05 8.91166724e+00] [-3.87999933e-03 7.28068433e-05 9.99992470e-01 -1.81869060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50439141799995 meters 0.05585781077895655 Centerline is valid? [True, True] Translation: X:295.79, Y:8.91, Z:-1.82 [[ 9.99975353e-01 -5.32568987e-03 4.57502975e-03 2.95788230e+02] [ 5.32609854e-03 9.99985813e-01 -7.71470524e-05 8.90763757e+00] [-4.57455399e-03 1.01512210e-04 9.99989532e-01 -1.81841455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56439141799996 meters 0.05463908521287816 Centerline is valid? [True, True] Translation: X:295.85, Y:8.91, Z:-1.82 [[ 9.99944803e-01 -8.88564143e-03 5.60686855e-03 2.95849259e+02] [ 8.88631177e-03 9.99960511e-01 -9.46560340e-05 8.91099785e+00] [-5.60580606e-03 1.44475191e-04 9.99984277e-01 -1.81734083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62439141799996 meters 0.05477414616795506 Centerline is valid? [True, True] Translation: X:295.91, Y:8.91, Z:-1.82 [[ 9.99937768e-01 -9.78799099e-03 5.35306534e-03 2.95911050e+02] [ 9.78861481e-03 9.99952086e-01 -9.03480087e-05 8.90831273e+00] [-5.35192453e-03 1.42741481e-04 9.99985668e-01 -1.81779735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68439141799996 meters 0.05638787109928001 Centerline is valid? [True, True] Translation: X:295.97, Y:8.90, Z:-1.82 [[ 9.99954814e-01 -8.45394897e-03 4.34740073e-03 2.95972322e+02] [ 8.45434990e-03 9.99964259e-01 -7.38521255e-05 8.89834524e+00] [-4.34662101e-03 1.10603235e-04 9.99990547e-01 -1.81903082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74439141799996 meters 0.05482725869720317 Centerline is valid? [True, True] Translation: X:296.03, Y:8.90, Z:-1.82 [[ 9.99976874e-01 -5.58132489e-03 3.88590565e-03 2.96034192e+02] [ 5.58162385e-03 9.99984420e-01 -6.60924483e-05 8.90275925e+00] [-3.88547623e-03 8.77805835e-05 9.99992448e-01 -1.81787688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80439141799997 meters 0.05608348388849143 Centerline is valid? [True, True] Translation: X:296.09, Y:8.90, Z:-1.82 [[ 9.99987106e-01 -3.53113329e-03 3.64961795e-03 2.96094230e+02] [ 3.53138377e-03 9.99993763e-01 -6.21905927e-05 8.89715955e+00] [-3.64937559e-03 7.50779924e-05 9.99993338e-01 -1.81878001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86439141799997 meters 0.056534847438358064 Centerline is valid? [True, True] Translation: X:296.16, Y:8.89, Z:-1.82 [[ 9.99992902e-01 -2.11706976e-03 3.11662453e-03 2.96155887e+02] [ 2.11724548e-03 9.99997757e-01 -5.30826302e-05 8.89355932e+00] [-3.11650516e-03 5.96809126e-05 9.99995142e-01 -1.81950317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92439141799997 meters 0.05646498647381414 Centerline is valid? [True, True] Translation: X:296.22, Y:8.89, Z:-1.82 [[ 9.99994419e-01 -2.47706949e-03 2.24196736e-03 2.96218092e+02] [ 2.47716061e-03 9.99996931e-01 -3.78698125e-05 8.89233793e+00] [-2.24186668e-03 4.34233144e-05 9.99997486e-01 -1.81958122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters 0.05583369540702481 Centerline is valid? [True, True] Translation: X:296.28, Y:8.89, Z:-1.82 [[ 9.99987855e-01 -4.82346264e-03 1.01231231e-03 2.96279512e+02] [ 4.82348264e-03 9.99988367e-01 -1.73171315e-05 8.89033717e+00] [-1.01221700e-03 2.21997920e-05 9.99999487e-01 -1.81979346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters 0.05565825953527949 Centerline is valid? [True, True] Translation: X:296.34, Y:8.89, Z:-1.82 [[ 9.99958809e-01 -9.07560270e-03 1.14302748e-04 2.96340618e+02] [ 9.07560297e-03 9.99958816e-01 -1.89490873e-06 8.88776290e+00] [-1.14280843e-04 2.93219704e-06 9.99999993e-01 -1.81985024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters 0.05590671497002604 Centerline is valid? [True, True] Translation: X:296.40, Y:8.89, Z:-1.82 [[ 9.99919244e-01 -1.27009123e-02 -4.38317802e-04 2.96402052e+02] [ 1.27009169e-02 9.99919340e-01 7.65417872e-06 8.88913795e+00] [ 4.38185233e-04 -1.32205986e-05 9.99999904e-01 -1.81872033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters 0.05559215934509144 Centerline is valid? [True, True] Translation: X:296.46, Y:8.88, Z:-1.82 [[ 9.99845695e-01 -1.75659424e-02 1.56026185e-04 2.96461488e+02] [ 1.75659431e-02 9.99845707e-01 -2.67003696e-06 8.88221035e+00] [-1.55955210e-04 5.41037205e-06 9.99999988e-01 -1.81972829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters 0.05656008480129707 Centerline is valid? [True, True] Translation: X:296.52, Y:8.87, Z:-1.82 [[ 9.99770350e-01 -2.14270516e-02 3.59371155e-04 2.96520698e+02] [ 2.14270552e-02 9.99770414e-01 -6.18546894e-06 8.87451466e+00] [-3.59156112e-04 1.38843140e-05 9.99999935e-01 -1.82010313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters 0.059856311412677346 Centerline is valid? [True, True] Translation: X:296.58, Y:8.86, Z:-1.82 [[ 9.99711467e-01 -2.40152713e-02 5.00191311e-04 2.96580046e+02] [ 2.40152786e-02 9.99711592e-01 -8.64073945e-06 8.86299871e+00] [-4.99839542e-04 2.06504800e-05 9.99999875e-01 -1.82133236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters 0.05497156688092659 Centerline is valid? [True, True] Translation: X:296.64, Y:8.88, Z:-1.82 [[ 9.99568858e-01 -2.92605375e-02 2.43309012e-03 2.96640488e+02] [ 2.92607260e-02 9.99571812e-01 -4.19284464e-05 8.88151552e+00] [-2.43082145e-03 1.13104353e-04 9.99997039e-01 -1.81773468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters 0.05579720098887221 Centerline is valid? [True, True] Translation: X:296.70, Y:8.88, Z:-1.82 [[ 9.99476680e-01 -3.22475329e-02 2.54229448e-03 2.96699764e+02] [ 3.22477484e-02 9.99479905e-01 -4.38046034e-05 8.87526074e+00] [-2.53955966e-03 1.25764952e-04 9.99996767e-01 -1.81818804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters 0.05953912638824324 Centerline is valid? [True, True] Translation: X:296.76, Y:8.86, Z:-1.82 [[ 9.99418274e-01 -3.40672028e-02 1.59358043e-03 2.96759077e+02] [ 3.40672895e-02 9.99419541e-01 -2.73352748e-05 8.85966584e+00] [-1.59172419e-03 8.16083393e-05 9.99998730e-01 -1.81982813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters 0.054606393157689094 Centerline is valid? [True, True] Translation: X:296.82, Y:8.88, Z:-1.82 [[ 9.99341102e-01 -3.62440805e-02 1.93111356e-03 2.96819654e+02] [ 3.62442124e-02 9.99342962e-01 -3.33286990e-05 8.87960407e+00] [-1.92863678e-03 1.03298429e-04 9.99998135e-01 -1.81945120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58439141799994 meters 0.057907780067136226 Centerline is valid? [True, True] Translation: X:296.88, Y:8.86, Z:-1.82 [[ 9.99365984e-01 -3.55981049e-02 6.35858611e-04 2.96880606e+02] [ 3.55981190e-02 9.99366186e-01 -1.08502058e-05 8.86463726e+00] [-6.35069349e-04 3.34786971e-05 9.99999798e-01 -1.82239361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64439141799994 meters 0.05479402434994052 Centerline is valid? [True, True] Translation: X:296.94, Y:8.89, Z:-1.82 [[ 9.99521891e-01 -3.09075355e-02 8.44392695e-04 2.96941538e+02] [ 3.09075588e-02 9.99522247e-01 -1.45327779e-05 8.88932778e+00] [-8.43540112e-04 4.06239465e-05 9.99999643e-01 -1.82101756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70439141799994 meters 0.0606525236947126 Centerline is valid? [True, True] Translation: X:297.00, Y:8.86, Z:-1.82 [[ 9.99690520e-01 -2.48689558e-02 6.31804562e-04 2.97000350e+02] [ 2.48689677e-02 9.99690719e-01 -1.09334955e-05 8.86418898e+00] [-6.31337252e-04 2.66424390e-05 9.99999800e-01 -1.82413197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76439141799995 meters 0.05588714602334275 Centerline is valid? [True, True] Translation: X:297.06, Y:8.89, Z:-1.82 [[ 9.99883035e-01 -1.50513822e-02 2.71511243e-03 2.97061191e+02] [ 1.50515652e-02 9.99886718e-01 -4.69696600e-05 8.89047668e+00] [-2.71409790e-03 8.78308579e-05 9.99996313e-01 -1.82048313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82439141799995 meters 0.05646742957738667 Centerline is valid? [True, True] Translation: X:297.12, Y:8.89, Z:-1.82 [[ 9.99980410e-01 -4.38575747e-03 4.46596294e-03 2.97120613e+02] [ 4.38614624e-03 9.99990378e-01 -7.72615165e-05 8.89088251e+00] [-4.46558112e-03 9.68483695e-05 9.99990025e-01 -1.81966208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88439141799995 meters 0.055376106726120096 Centerline is valid? [True, True] Translation: X:297.18, Y:8.90, Z:-1.82 [[ 9.99986049e-01 1.37482256e-03 5.10017502e-03 2.97181221e+02] [-1.37439047e-03 9.99999052e-01 -8.82236023e-05 8.89982162e+00] [-5.10029147e-03 8.12127395e-05 9.99986990e-01 -1.82026274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94439141799995 meters 0.05507534365782948 Centerline is valid? [True, True] Translation: X:297.24, Y:8.91, Z:-1.82 [[ 9.99962408e-01 8.08759676e-03 3.12622540e-03 2.97242209e+02] [-8.08746731e-03 9.99967294e-01 -5.40484043e-05 8.90561056e+00] [-3.12656028e-03 2.87631268e-05 9.99995112e-01 -1.82224496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00439141799995 meters 0.055932223503408714 Centerline is valid? [True, True] Translation: X:297.30, Y:8.91, Z:-1.82 [[ 9.99938018e-01 1.09049312e-02 2.24575025e-03 2.97301572e+02] [-1.09048713e-02 9.99940539e-01 -3.89571230e-05 8.90708876e+00] [-2.24604154e-03 1.44650910e-05 9.99997478e-01 -1.82253018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06439141799996 meters 0.05493119372912979 Centerline is valid? [True, True] Translation: X:297.36, Y:8.91, Z:-1.82 [[ 9.99889845e-01 1.45898793e-02 2.72638915e-03 2.97360204e+02] [-1.45898039e-02 9.99893562e-01 -4.75298069e-05 8.90772761e+00] [-2.72679241e-03 7.74708816e-06 9.99996282e-01 -1.82211081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12439141799996 meters 0.055037890153872455 Centerline is valid? [True, True] Translation: X:297.42, Y:8.91, Z:-1.82 [[ 9.99838914e-01 1.73858658e-02 4.45839731e-03 2.97419414e+02] [-1.73856960e-02 9.99848854e-01 -7.68448639e-05 8.90666443e+00] [-4.45905946e-03 -6.79854905e-07 9.99990058e-01 -1.82245086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18439141799996 meters 0.0557245176861461 Centerline is valid? [True, True] Translation: X:297.48, Y:8.90, Z:-1.82 [[ 9.99832551e-01 1.76891891e-02 4.68638467e-03 2.97477128e+02] [-1.76890080e-02 9.99843534e-01 -8.00847030e-05 8.90447854e+00] [-4.68706804e-03 -2.82620307e-06 9.99989016e-01 -1.82262525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24439141799996 meters 0.05564839494845111 Centerline is valid? [True, True] Translation: X:297.54, Y:8.90, Z:-1.82 [[ 9.99889707e-01 1.39604542e-02 5.06752884e-03 2.97536294e+02] [-1.39601958e-02 9.99902548e-01 -8.63615282e-05 8.89891727e+00] [-5.06824064e-03 1.56083084e-05 9.99987156e-01 -1.82434836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30439141799997 meters 0.055169428803016285 Centerline is valid? [True, True] Translation: X:297.60, Y:8.89, Z:-1.83 [[ 9.99971906e-01 6.57670583e-03 3.59641522e-03 2.97595377e+02] [-6.57652825e-03 9.99978373e-01 -6.12016807e-05 8.88764618e+00] [-3.59673995e-03 3.75480350e-05 9.99993531e-01 -1.82523128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36439141799997 meters 0.05567695449104851 Centerline is valid? [True, True] Translation: X:297.66, Y:8.88, Z:-1.83 [[ 9.99986482e-01 -2.96162411e-03 4.27376352e-03 2.97655801e+02] [ 2.96196171e-03 9.99995611e-01 -7.26658408e-05 8.87514758e+00] [-4.27352955e-03 8.53235824e-05 9.99990865e-01 -1.82506731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42439141799997 meters 0.0562606155194276 Centerline is valid? [True, True] Translation: X:297.72, Y:8.87, Z:-1.83 [[ 9.99942544e-01 -9.77145316e-03 4.40771833e-03 2.97716376e+02] [ 9.77187836e-03 9.99952251e-01 -7.49418888e-05 8.86795167e+00] [-4.40677558e-03 1.18009270e-04 9.99990283e-01 -1.82561833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters 0.056641151011504666 Centerline is valid? [True, True] Translation: X:297.78, Y:8.86, Z:-1.83 [[ 9.99869754e-01 -1.56025429e-02 4.12734169e-03 2.97777093e+02] [ 1.56029654e-02 9.99878264e-01 -7.01876057e-05 8.86079720e+00] [-4.12574413e-03 1.34577234e-04 9.99991480e-01 -1.82712496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters 0.05778844301006186 Centerline is valid? [True, True] Translation: X:297.84, Y:8.85, Z:-1.83 [[ 9.99750202e-01 -2.20414315e-02 3.70253286e-03 2.97836059e+02] [ 2.20418157e-02 9.99757048e-01 -6.29703326e-05 8.84866784e+00] [-3.70024536e-03 1.44565150e-04 9.99993144e-01 -1.82886087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters 0.05530962639302849 Centerline is valid? [True, True] Translation: X:297.90, Y:8.86, Z:-1.83 [[ 9.99594470e-01 -2.80692735e-02 4.79697204e-03 2.97896436e+02] [ 2.80699879e-02 9.99605957e-01 -8.16483795e-05 8.85669519e+00] [-4.79279002e-03 2.16266216e-04 9.99988491e-01 -1.82835656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters 0.05468166697606387 Centerline is valid? [True, True] Translation: X:297.96, Y:8.86, Z:-1.83 [[ 9.99413457e-01 -3.36943538e-02 6.11826460e-03 2.97956993e+02] [ 3.36956211e-02 9.99432136e-01 -1.04157440e-04 8.85772387e+00] [-6.11128074e-03 3.10255074e-04 9.99981278e-01 -1.82844696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters 0.05789450722634107 Centerline is valid? [True, True] Translation: X:298.02, Y:8.84, Z:-1.83 [[ 9.99341330e-01 -3.58915290e-02 5.35760918e-03 2.98016291e+02] [ 3.58925323e-02 9.99355651e-01 -9.12115892e-05 8.84364886e+00] [-5.35088329e-03 2.83449672e-04 9.99985644e-01 -1.82933598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters 0.05425103744530291 Centerline is valid? [True, True] Translation: X:298.08, Y:8.86, Z:-1.83 [[ 9.99288647e-01 -3.74171724e-02 4.70702438e-03 2.98077285e+02] [ 3.74179638e-02 9.99299700e-01 -8.01644467e-05 8.85601798e+00] [-4.70072852e-03 2.56234689e-04 9.99988919e-01 -1.83169202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters 0.05526164781035933 Centerline is valid? [True, True] Translation: X:298.14, Y:8.85, Z:-1.83 [[ 9.99258100e-01 -3.84104219e-02 2.80875307e-03 2.98137233e+02] [ 3.84107074e-02 9.99262035e-01 -4.77623339e-05 8.85233255e+00] [-2.80484573e-03 1.55613091e-04 9.99996054e-01 -1.83319998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters 0.05398306698525222 Centerline is valid? [True, True] Translation: X:298.20, Y:8.86, Z:-1.83 [[ 9.99213396e-01 -3.96181868e-02 1.72855317e-03 2.98198502e+02] [ 3.96182969e-02 9.99214887e-01 -2.94579477e-05 8.85830711e+00] [-1.72602899e-03 9.79171086e-05 9.99998506e-01 -1.83374133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters 0.053873373421436985 Centerline is valid? [True, True] Translation: X:298.26, Y:8.86, Z:-1.83 [[ 9.99146719e-01 -4.12807756e-02 1.31607406e-03 2.98258943e+02] [ 4.12808409e-02 9.99147583e-01 -2.24857820e-05 8.85712351e+00] [-1.31402399e-03 7.67952392e-05 9.99999134e-01 -1.83436244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters 0.05444812618948054 Centerline is valid? [True, True] Translation: X:298.32, Y:8.86, Z:-1.83 [[ 9.99131004e-01 -4.15156654e-02 3.69952299e-03 2.98320666e+02] [ 4.15161827e-02 9.99137830e-01 -6.31029834e-05 8.85774544e+00] [-3.69371361e-03 2.16638219e-04 9.99993155e-01 -1.83384090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08439141799994 meters 0.05677472056274444 Centerline is valid? [True, True] Translation: X:298.38, Y:8.85, Z:-1.83 [[ 9.99158759e-01 -4.06922254e-02 5.09083215e-03 2.98381568e+02] [ 4.06931986e-02 9.99171685e-01 -8.76824698e-05 8.85183960e+00] [-5.08304734e-03 2.94770951e-04 9.99987038e-01 -1.83337668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14439141799994 meters 0.05824181944727671 Centerline is valid? [True, True] Translation: X:298.44, Y:8.85, Z:-1.83 [[ 9.99215913e-01 -3.90884458e-02 6.29704399e-03 2.98441729e+02] [ 3.90899037e-02 9.99235692e-01 -1.08577185e-04 8.84951836e+00] [-6.28798699e-03 3.54642894e-04 9.99980168e-01 -1.83267002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20439141799994 meters 0.05958612641212592 Centerline is valid? [True, True] Translation: X:298.50, Y:8.85, Z:-1.83 [[ 9.99256197e-01 -3.81435218e-02 5.66790146e-03 2.98502903e+02] [ 3.81446878e-02 9.99272222e-01 -9.77215176e-05 8.84912704e+00] [-5.66004904e-03 3.13849164e-04 9.99983933e-01 -1.83375848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26439141799995 meters 0.05754835480737374 Centerline is valid? [True, True] Translation: X:298.56, Y:8.86, Z:-1.84 [[ 9.99253498e-01 -3.83564856e-02 4.60728207e-03 2.98564768e+02] [ 3.83572584e-02 9.99264086e-01 -7.94646534e-05 8.85791197e+00] [-4.60084353e-03 2.56128042e-04 9.99989383e-01 -1.83517557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32439141799995 meters 0.057124629158124746 Centerline is valid? [True, True] Translation: X:298.63, Y:8.86, Z:-1.84 [[ 9.99270067e-01 -3.81181634e-02 2.51787212e-03 2.98627019e+02] [ 3.81183937e-02 9.99273229e-01 -4.35069669e-05 8.86107088e+00] [-2.51438380e-03 1.39452451e-04 9.99996829e-01 -1.83662990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38439141799995 meters 0.05603584105035009 Centerline is valid? [True, True] Translation: X:298.69, Y:8.87, Z:-1.84 [[ 9.99304343e-01 -3.72038511e-02 2.58928847e-03 2.98688260e+02] [ 3.72040918e-02 9.99307687e-01 -4.48449383e-05 8.86586480e+00] [-2.58582747e-03 1.41145868e-04 9.99996647e-01 -1.83684220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44439141799995 meters 0.054641714836995064 Centerline is valid? [True, True] Translation: X:298.75, Y:8.88, Z:-1.84 [[ 9.99501700e-01 -3.12894606e-02 4.16190671e-03 2.98749499e+02] [ 3.12900323e-02 9.99510344e-01 -7.22866814e-05 8.87741137e+00] [-4.15760700e-03 2.02476856e-04 9.99991337e-01 -1.83608478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50439141799995 meters 0.0543220925732251 Centerline is valid? [True, True] Translation: X:298.81, Y:8.89, Z:-1.84 [[ 9.99663035e-01 -2.52155634e-02 6.16382328e-03 2.98810558e+02] [ 2.52167023e-02 9.99682003e-01 -1.07112966e-04 8.88520377e+00] [-6.15916229e-03 2.62508169e-04 9.99980998e-01 -1.83543029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56439141799996 meters 0.056395417466724995 Centerline is valid? [True, True] Translation: X:298.87, Y:8.88, Z:-1.83 [[ 9.99870589e-01 -1.44964947e-02 6.97549922e-03 2.98870041e+02] [ 1.44976918e-02 9.99894896e-01 -1.21084097e-04 8.88191478e+00] [-6.97301077e-03 2.22197066e-04 9.99975664e-01 -1.83354281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62439141799996 meters 0.05530212642957453 Centerline is valid? [True, True] Translation: X:298.93, Y:8.89, Z:-1.83 [[ 9.99963183e-01 -3.77777794e-03 7.70457407e-03 2.98930496e+02] [ 3.77892008e-03 9.99992851e-01 -1.33689476e-04 8.89297293e+00] [-7.70401394e-03 1.62799524e-04 9.99970310e-01 -1.83393085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68439141799996 meters 0.05462036623512627 Centerline is valid? [True, True] Translation: X:298.99, Y:8.90, Z:-1.83 [[ 9.99968909e-01 4.07398405e-03 6.75157659e-03 2.98990918e+02] [-4.07328580e-03 9.99991697e-01 -1.17168497e-04 8.90014423e+00] [-6.75199787e-03 8.96637534e-05 9.99977201e-01 -1.83492235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74439141799996 meters 0.055045907804392835 Centerline is valid? [True, True] Translation: X:299.05, Y:8.91, Z:-1.84 [[ 9.99870674e-01 1.55191859e-02 4.21795160e-03 2.99050629e+02] [-1.55190154e-02 9.99879570e-01 -7.31506645e-05 8.90656370e+00] [-4.21857887e-03 7.68274854e-06 9.99991102e-01 -1.83692693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80439141799997 meters 0.05524082160577822 Centerline is valid? [True, True] Translation: X:299.11, Y:8.91, Z:-1.84 [[ 9.99704159e-01 2.40579155e-02 3.57916373e-03 2.99109568e+02] [-2.40578460e-02 9.99710566e-01 -6.24896358e-05 8.90948342e+00] [-3.57963117e-03 -2.36358208e-05 9.99993593e-01 -1.83700642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86439141799997 meters 0.05538774491168588 Centerline is valid? [True, True] Translation: X:299.17, Y:8.91, Z:-1.84 [[ 9.99627370e-01 2.70486230e-02 3.67336465e-03 2.99167940e+02] [-2.70485716e-02 9.99634118e-01 -6.36954835e-05 8.90983892e+00] [-3.67374350e-03 -3.56875180e-05 9.99993251e-01 -1.83725260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92439141799997 meters 0.05535623249987476 Centerline is valid? [True, True] Translation: X:299.23, Y:8.91, Z:-1.84 [[ 9.99603941e-01 2.76613234e-02 5.17809463e-03 2.99226721e+02] [-2.76612345e-02 9.99617351e-01 -8.88052095e-05 8.90571869e+00] [-5.17856971e-03 -5.44624524e-05 9.99986590e-01 -1.83600054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters 0.05587720454938302 Centerline is valid? [True, True] Translation: X:299.28, Y:8.90, Z:-1.84 [[ 9.99716000e-01 2.31654483e-02 5.59305231e-03 2.99284124e+02] [-2.31652754e-02 9.99731644e-01 -9.57157181e-05 8.89889583e+00] [-5.59376868e-03 -3.38760621e-05 9.99984354e-01 -1.83509857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters 0.054876366173262574 Centerline is valid? [True, True] Translation: X:299.34, Y:8.89, Z:-1.84 [[ 9.99915170e-01 1.23224684e-02 4.22019283e-03 2.99342830e+02] [-1.23222739e-02 9.99924075e-01 -7.20876488e-05 8.88695737e+00] [-4.22076071e-03 2.00791618e-05 9.99991092e-01 -1.83558089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters 0.05555369652719 Centerline is valid? [True, True] Translation: X:299.40, Y:8.87, Z:-1.84 [[ 9.99993382e-01 2.58350881e-03 2.56141923e-03 2.99402133e+02] [-2.58340547e-03 9.99996662e-01 -4.36517531e-05 8.86913138e+00] [-2.56152346e-03 3.70342798e-05 9.99996719e-01 -1.83868636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters 0.055238286935864696 Centerline is valid? [True, True] Translation: X:299.46, Y:8.86, Z:-1.84 [[ 9.99966447e-01 -8.00984816e-03 1.71683499e-03 2.99462365e+02] [ 8.00991013e-03 9.99967920e-01 -2.92260161e-05 8.86414053e+00] [-1.71654582e-03 4.29767295e-05 9.99998526e-01 -1.83848554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters 0.055507993944077044 Centerline is valid? [True, True] Translation: X:299.52, Y:8.86, Z:-1.84 [[ 9.99782807e-01 -2.08397579e-02 2.08959735e-04 2.99523098e+02] [ 2.08397591e-02 9.99782829e-01 -3.54322129e-06 8.85978387e+00] [-2.08840515e-04 7.89712226e-06 9.99999978e-01 -1.83799514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters 0.054105586500804846 Centerline is valid? [True, True] Translation: X:299.58, Y:8.85, Z:-1.84 [[ 9.99568023e-01 -2.93820496e-02 -6.80654054e-04 2.99582258e+02] [ 2.93820644e-02 9.99568254e-01 1.16478680e-05 8.84976681e+00] [ 6.80017946e-04 -3.16418576e-05 9.99999768e-01 -1.83775984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters 0.05591026124361272 Centerline is valid? [True, True] Translation: X:299.64, Y:8.84, Z:-1.84 [[ 9.99384440e-01 -3.50756687e-02 -6.61640022e-04 2.99641844e+02] [ 3.50756838e-02 9.99384659e-01 1.12809341e-05 8.83723733e+00] [ 6.60837201e-04 -3.44814662e-05 9.99999781e-01 -1.83729227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters 0.05397753778273066 Centerline is valid? [True, True] Translation: X:299.70, Y:8.84, Z:-1.84 [[ 9.99288749e-01 -3.77081183e-02 -3.06554383e-04 2.99702096e+02] [ 3.77081217e-02 9.99288796e-01 5.25380630e-06 8.84329826e+00] [ 3.06138249e-04 -1.68096595e-05 9.99999953e-01 -1.83588496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters 0.05441161960031364 Centerline is valid? [True, True] Translation: X:299.76, Y:8.84, Z:-1.84 [[ 9.99171574e-01 -4.06786477e-02 -1.18873069e-03 2.99763388e+02] [ 4.06787006e-02 9.99172279e-01 2.03639606e-05 8.83887810e+00] [ 1.18691837e-03 -6.87031103e-05 9.99999293e-01 -1.83520859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters 0.06105203559287079 Centerline is valid? [True, True] Translation: X:299.82, Y:8.81, Z:-1.84 [[ 9.99084032e-01 -4.27216269e-02 -2.44136910e-03 2.99822645e+02] [ 4.27218557e-02 9.99087004e-01 4.15890409e-05 8.80653796e+00] [ 2.43736338e-03 -1.45850765e-04 9.99997019e-01 -1.83944909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58439141799994 meters 0.05411686197566157 Centerline is valid? [True, True] Translation: X:299.88, Y:8.84, Z:-1.83 [[ 9.99019635e-01 -4.41243683e-02 -3.57888379e-03 2.99884189e+02] [ 4.41248692e-02 9.99026022e-01 6.11026971e-05 8.83745824e+00] [ 3.57270191e-03 -2.18960573e-04 9.99993594e-01 -1.83497710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64439141799994 meters 0.057388688787364764 Centerline is valid? [True, True] Translation: X:299.95, Y:8.82, Z:-1.84 [[ 9.99026356e-01 -4.36148570e-02 -6.63953637e-03 2.99945457e+02] [ 4.36165722e-02 9.99048338e-01 1.13678031e-04 8.81873402e+00] [ 6.62825972e-03 -4.03161167e-04 9.99977952e-01 -1.83850419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70439141799994 meters 0.05614241534473268 Centerline is valid? [True, True] Translation: X:300.01, Y:8.82, Z:-1.84 [[ 9.99102012e-01 -4.15122935e-02 -8.47929743e-03 3.00006663e+02] [ 4.15150143e-02 9.99137870e-01 1.45038999e-04 8.82211169e+00] [ 8.46596626e-03 -4.96926910e-04 9.99964040e-01 -1.83906157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76439141799995 meters 0.056435891879884535 Centerline is valid? [True, True] Translation: X:300.07, Y:8.83, Z:-1.84 [[ 9.99357728e-01 -3.48400420e-02 -8.38471895e-03 3.00067021e+02] [ 3.48424689e-02 9.99392807e-01 1.43502856e-04 8.82713249e+00] [ 8.37462816e-03 -4.35554998e-04 9.99964837e-01 -1.83802244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82439141799995 meters 0.05679475780251531 Centerline is valid? [True, True] Translation: X:300.13, Y:8.83, Z:-1.84 [[ 9.99670705e-01 -2.50183093e-02 -5.70666276e-03 3.00126778e+02] [ 2.50192735e-02 9.99686964e-01 9.76256149e-05 8.82838915e+00] [ 5.70243395e-03 -2.40370024e-04 9.99983712e-01 -1.83718887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88439141799995 meters 0.056317522026693746 Centerline is valid? [True, True] Translation: X:300.19, Y:8.83, Z:-1.84 [[ 9.99839680e-01 -1.75459820e-02 -3.57112820e-03 3.00187113e+02] [ 1.75463122e-02 9.99846050e-01 6.11511399e-05 8.83200984e+00] [ 3.56950547e-03 -1.23801466e-04 9.99993622e-01 -1.83611955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94439141799995 meters 0.05506564675153846 Centerline is valid? [True, True] Translation: X:300.25, Y:8.84, Z:-1.83 [[ 9.99971015e-01 -7.30868453e-03 -2.13368088e-03 3.00248476e+02] [ 7.30877896e-03 9.99973290e-01 3.64655704e-05 8.84344562e+00] [ 2.13335737e-03 -5.20591154e-05 9.99997723e-01 -1.83326431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00439141799995 meters 0.055070067367763126 Centerline is valid? [True, True] Translation: X:300.31, Y:8.85, Z:-1.83 [[ 9.99997817e-01 4.56767976e-04 -2.03885190e-03 3.00309019e+02] [-4.56697816e-04 9.99999895e-01 3.48769750e-05 8.84739603e+00] [ 2.03886762e-03 -3.39457597e-05 9.99997921e-01 -1.83283282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06439141799996 meters 0.055829732902389004 Centerline is valid? [True, True] Translation: X:300.37, Y:8.85, Z:-1.83 [[ 9.99983848e-01 5.13269797e-03 -2.44107238e-03 3.00367873e+02] [-5.13261149e-03 9.99986827e-01 4.16890833e-05 8.84596233e+00] [ 2.44125420e-03 -2.91593338e-05 9.99997020e-01 -1.83479930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12439141799996 meters 0.056946612752751 Centerline is valid? [True, True] Translation: X:300.43, Y:8.85, Z:-1.84 [[ 9.99892906e-01 1.41846594e-02 -3.60168757e-03 3.00427599e+02] [-1.41845302e-02 9.99899393e-01 6.14225861e-05 8.84851599e+00] [ 3.60219647e-03 -1.03277619e-05 9.99993512e-01 -1.83578708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18439141799996 meters 0.056347288057958904 Centerline is valid? [True, True] Translation: X:300.49, Y:8.85, Z:-1.84 [[ 9.99698120e-01 2.44182837e-02 -2.72313116e-03 3.00485984e+02] [-2.44182505e-02 9.99701829e-01 4.54525525e-05 8.85072817e+00] [ 2.72342908e-03 2.10552676e-05 9.99996291e-01 -1.83512352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24439141799996 meters 0.0571306448806374 Centerline is valid? [True, True] Translation: X:300.54, Y:8.85, Z:-1.83 [[ 9.99518705e-01 3.10038846e-02 -1.05672833e-03 3.00544576e+02] [-3.10038832e-02 9.99519264e-01 1.76594572e-05 8.84859176e+00] [ 1.05676783e-03 1.51117240e-05 9.99999442e-01 -1.83329370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30439141799997 meters 0.05665041125031271 Centerline is valid? [True, True] Translation: X:300.60, Y:8.85, Z:-1.83 [[ 9.99431771e-01 3.37061754e-02 -1.70842935e-04 3.00602974e+02] [-3.37061755e-02 9.99431785e-01 2.75372884e-06 8.84785580e+00] [ 1.70838677e-04 3.00629785e-06 9.99999985e-01 -1.83369804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36439141799997 meters 0.056675290234959236 Centerline is valid? [True, True] Translation: X:300.66, Y:8.85, Z:-1.83 [[ 9.99289904e-01 3.76718100e-02 7.22239544e-04 3.00663344e+02] [-3.76718111e-02 9.99290165e-01 -1.21677891e-05 8.84619702e+00] [-7.22185256e-04 -1.50489228e-05 9.99999739e-01 -1.83428333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42439141799997 meters 0.05668164889522556 Centerline is valid? [True, True] Translation: X:300.72, Y:8.84, Z:-1.84 [[ 9.99478763e-01 3.22803116e-02 4.28239260e-04 3.00722479e+02] [-3.22803114e-02 9.99478855e-01 -7.30550384e-06 8.84028881e+00] [-4.28251909e-04 -6.52200071e-06 9.99999908e-01 -1.83694434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters 0.05603524737745454 Centerline is valid? [True, True] Translation: X:300.78, Y:8.83, Z:-1.84 [[ 9.99709888e-01 2.40719728e-02 8.24276901e-04 3.00782820e+02] [-2.40719695e-02 9.99710228e-01 -1.39260682e-05 8.83052707e+00] [-8.24373277e-04 -5.91994027e-06 9.99999660e-01 -1.83794320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters 0.05564649238859206 Centerline is valid? [True, True] Translation: X:300.84, Y:8.81, Z:-1.84 [[ 9.99962084e-01 8.57608463e-03 1.51022303e-03 3.00841482e+02] [-8.57605549e-03 9.99963225e-01 -2.57689432e-05 8.81270821e+00] [-1.51038849e-03 1.28162097e-05 9.99998859e-01 -1.83864535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters 0.055534158410898725 Centerline is valid? [True, True] Translation: X:300.90, Y:8.80, Z:-1.84 [[ 9.99997334e-01 -1.26613547e-03 1.93126642e-03 3.00900909e+02] [ 1.26620056e-03 9.99999198e-01 -3.24824553e-05 8.79869662e+00] [-1.93122375e-03 3.49277393e-05 9.99998135e-01 -1.84009508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters 0.056963339559267606 Centerline is valid? [True, True] Translation: X:300.96, Y:8.79, Z:-1.84 [[ 9.99900054e-01 -1.39262539e-02 2.43767786e-03 3.00961524e+02] [ 1.39263953e-02 9.99903022e-01 -4.10706827e-05 8.78576765e+00] [-2.43686950e-03 7.50146435e-05 9.99997028e-01 -1.84094671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters 0.056472790195328644 Centerline is valid? [True, True] Translation: X:301.02, Y:8.78, Z:-1.84 [[ 9.99723147e-01 -2.35212784e-02 6.16166213e-04 3.01021465e+02] [ 2.35212893e-02 9.99723336e-01 -1.03850702e-05 8.77684701e+00] [-6.15751472e-04 2.48752188e-05 9.99999810e-01 -1.84326907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters 0.059029977120788585 Centerline is valid? [True, True] Translation: X:301.08, Y:8.76, Z:-1.85 [[ 9.99595063e-01 -2.84508329e-02 -5.09391711e-04 3.01081163e+02] [ 2.84508410e-02 9.99595193e-01 8.60311892e-06 8.76377828e+00] [ 5.08940740e-04 -2.30922578e-05 9.99999870e-01 -1.84520210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters 0.057576019806697146 Centerline is valid? [True, True] Translation: X:301.14, Y:8.76, Z:-1.85 [[ 9.99431435e-01 -3.36916102e-02 1.29675490e-03 3.01141424e+02] [ 3.36916668e-02 9.99432274e-01 -2.18133911e-05 8.76347951e+00] [-1.29528377e-03 6.54908226e-05 9.99999159e-01 -1.84555287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters 0.056297408889078276 Centerline is valid? [True, True] Translation: X:301.20, Y:8.77, Z:-1.84 [[ 9.99408066e-01 -3.43587886e-02 1.72926941e-03 3.01203048e+02] [ 3.43588902e-02 9.99409559e-01 -2.90586651e-05 8.76552084e+00] [-1.72724996e-03 8.84572423e-05 9.99998504e-01 -1.84496258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters 0.06320642524038697 Centerline is valid? [True, True] Translation: X:301.26, Y:8.74, Z:-1.85 [[ 9.99462824e-01 -3.27616712e-02 8.57810004e-04 3.01262810e+02] [ 3.27616956e-02 9.99463191e-01 -1.44892184e-05 8.74215218e+00] [-8.56874833e-04 4.25847454e-05 9.99999632e-01 -1.84706062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters 0.05959130948079355 Centerline is valid? [True, True] Translation: X:301.32, Y:8.75, Z:-1.85 [[ 9.99509717e-01 -3.12785260e-02 1.40700077e-03 3.01323576e+02] [ 3.12785904e-02 9.99510705e-01 -2.37314220e-05 8.75106676e+00] [-1.40557005e-03 6.77287878e-05 9.99999010e-01 -1.84709995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08439141799994 meters 0.056052938897162216 Centerline is valid? [True, True] Translation: X:301.39, Y:8.77, Z:-1.85 [[ 9.99505251e-01 -3.13691455e-02 2.28692798e-03 3.01385832e+02] [ 3.13693153e-02 9.99507861e-01 -3.84258692e-05 8.76669470e+00] [-2.28459711e-03 1.10146223e-04 9.99997384e-01 -1.84691580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14439141799994 meters 0.05674953007060377 Centerline is valid? [True, True] Translation: X:301.45, Y:8.76, Z:-1.85 [[ 9.99507899e-01 -3.13552805e-02 8.98330569e-04 3.01446827e+02] [ 3.13553065e-02 9.99508301e-01 -1.49134437e-05 8.76355933e+00] [-8.97421246e-04 4.30735351e-05 9.99999596e-01 -1.84845237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20439141799994 meters 0.05760761538123688 Centerline is valid? [True, True] Translation: X:301.51, Y:8.76, Z:-1.85 [[ 9.99524073e-01 -3.08450378e-02 4.60205036e-04 3.01507685e+02] [ 3.08450445e-02 9.99524178e-01 -7.47265340e-06 8.76082507e+00] [-4.59755566e-04 2.16641418e-05 9.99999894e-01 -1.84949748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26439141799995 meters 0.056873945925886384 Centerline is valid? [True, True] Translation: X:301.57, Y:8.76, Z:-1.85 [[ 9.99619705e-01 -2.75368058e-02 1.47332193e-03 3.01568020e+02] [ 2.75368727e-02 9.99620788e-01 -2.51566565e-05 8.76385349e+00] [-1.47207050e-03 6.57177681e-05 9.99998914e-01 -1.84922183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32439141799995 meters 0.057007464120822145 Centerline is valid? [True, True] Translation: X:301.63, Y:8.77, Z:-1.85 [[ 9.99778339e-01 -2.08691298e-02 2.78412349e-03 3.01627764e+02] [ 2.08693431e-02 9.99782210e-01 -4.75639666e-05 8.76569904e+00] [-2.78252452e-03 1.05656252e-04 9.99996123e-01 -1.84877524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38439141799995 meters 0.05691372206204651 Centerline is valid? [True, True] Translation: X:301.69, Y:8.77, Z:-1.85 [[ 9.99865448e-01 -1.58925133e-02 4.06368605e-03 3.01688612e+02] [ 1.58929267e-02 9.99873697e-01 -6.94611170e-05 8.77095669e+00] [-4.06206889e-03 1.34035635e-04 9.99991741e-01 -1.84900610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44439141799995 meters 0.05710040917910365 Centerline is valid? [True, True] Translation: X:301.75, Y:8.78, Z:-1.85 [[ 9.99937790e-01 -9.42838411e-03 5.96002502e-03 3.01748817e+02] [ 9.42915843e-03 9.99955539e-01 -1.01831400e-04 8.77633549e+00] [-5.95879993e-03 1.58023085e-04 9.99982234e-01 -1.84880399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50439141799995 meters 0.05636860261476368 Centerline is valid? [True, True] Translation: X:301.81, Y:8.78, Z:-1.85 [[ 9.99954851e-01 -6.47252382e-03 6.95719190e-03 3.01810929e+02] [ 6.47350757e-03 9.99979040e-01 -1.18890700e-04 8.78010667e+00] [-6.95627656e-03 1.63922767e-04 9.99975791e-01 -1.84847185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56439141799996 meters 0.057168862638096216 Centerline is valid? [True, True] Translation: X:301.87, Y:8.78, Z:-1.85 [[ 9.99955549e-01 -5.36401244e-03 7.75420683e-03 3.01872453e+02] [ 5.36520353e-03 9.99985598e-01 -1.32810956e-04 8.77915208e+00] [-7.75338276e-03 1.74407951e-04 9.99969927e-01 -1.84812551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62439141799996 meters 0.05606265623772448 Centerline is valid? [True, True] Translation: X:301.93, Y:8.78, Z:-1.85 [[ 9.99948631e-01 -6.98339676e-03 7.34632740e-03 3.01934877e+02] [ 6.98451243e-03 9.99975600e-01 -1.26223273e-04 8.77977384e+00] [-7.34526669e-03 1.77527304e-04 9.99973007e-01 -1.84918437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68439141799996 meters 0.05656889789055101 Centerline is valid? [True, True] Translation: X:302.00, Y:8.78, Z:-1.85 [[ 9.99930600e-01 -8.82159610e-03 7.80858193e-03 3.01996928e+02] [ 8.82291464e-03 9.99961068e-01 -1.34425107e-04 8.77942813e+00] [-7.80709208e-03 2.03310230e-04 9.99969504e-01 -1.84967442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74439141799996 meters 0.05662613242363923 Centerline is valid? [True, True] Translation: X:302.06, Y:8.77, Z:-1.85 [[ 9.99894922e-01 -1.19813065e-02 8.16052484e-03 3.02056544e+02] [ 1.19828534e-02 9.99928193e-01 -1.40682887e-04 8.77359353e+00] [-8.15825330e-03 2.38454477e-04 9.99966692e-01 -1.85062396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80439141799997 meters 0.05656379197231599 Centerline is valid? [True, True] Translation: X:302.12, Y:8.78, Z:-1.85 [[ 9.99858649e-01 -1.42587932e-02 8.90893890e-03 3.02117883e+02] [ 1.42607275e-02 9.99898299e-01 -1.53631372e-04 8.77711085e+00] [-8.90584225e-03 2.80657606e-04 9.99960303e-01 -1.85181389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86439141799997 meters 0.05521779339206027 Centerline is valid? [True, True] Translation: X:302.18, Y:8.78, Z:-1.85 [[ 9.99793351e-01 -1.81687446e-02 9.11874482e-03 3.02178029e+02] [ 1.81709346e-02 9.99834883e-01 -1.57371452e-04 8.77992700e+00] [-9.11437991e-03 3.23035047e-04 9.99958411e-01 -1.85296550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92439141799997 meters 0.05450938703205012 Centerline is valid? [True, True] Translation: X:302.24, Y:8.78, Z:-1.85 [[ 9.99749235e-01 -2.04534658e-02 9.11716939e-03 3.02239003e+02] [ 2.04557506e-02 9.99790747e-01 -1.57416450e-04 8.77864023e+00] [-9.11204188e-03 3.43875519e-04 9.99958425e-01 -1.85353972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters 0.05489287868158664 Centerline is valid? [True, True] Translation: X:302.30, Y:8.77, Z:-1.85 [[ 9.99749800e-01 -2.09879365e-02 7.73585722e-03 3.02300517e+02] [ 2.09895992e-02 9.99779685e-01 -1.33799012e-04 8.77404315e+00] [-7.73134473e-03 2.96138078e-04 9.99970069e-01 -1.85393724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters 0.05650896205765452 Centerline is valid? [True, True] Translation: X:302.36, Y:8.77, Z:-1.85 [[ 9.99795648e-01 -1.90738374e-02 6.69706839e-03 3.02360740e+02] [ 1.90750445e-02 9.99818048e-01 -1.16409287e-04 8.76889488e+00] [-6.69362948e-03 2.44132376e-04 9.99977568e-01 -1.85486313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters 0.056052941082665605 Centerline is valid? [True, True] Translation: X:302.42, Y:8.77, Z:-1.86 [[ 9.99902610e-01 -1.25517832e-02 6.10103542e-03 3.02422049e+02] [ 1.25526640e-02 9.99921207e-01 -1.06094456e-04 8.77277509e+00] [-6.09922302e-03 1.82668371e-04 9.99981383e-01 -1.85622106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters 0.05512088444456751 Centerline is valid? [True, True] Translation: X:302.48, Y:8.78, Z:-1.86 [[ 9.99977972e-01 -2.93103844e-03 5.95527145e-03 3.02482436e+02] [ 2.93170766e-03 9.99995697e-01 -1.03647808e-04 8.77970991e+00] [-5.95494203e-03 1.21104640e-04 9.99982262e-01 -1.85552185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters 0.055951956847569 Centerline is valid? [True, True] Translation: X:302.54, Y:8.78, Z:-1.86 [[ 9.99982679e-01 6.04824900e-04 5.85448527e-03 3.02542704e+02] [-6.04238790e-04 9.99999812e-01 -1.01881134e-04 8.77858025e+00] [-5.85454579e-03 9.83418625e-05 9.99982857e-01 -1.85587476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters 0.05542667777426498 Centerline is valid? [True, True] Translation: X:302.60, Y:8.79, Z:-1.86 [[ 9.99953255e-01 7.89878962e-03 5.57645910e-03 3.02603642e+02] [-7.89836972e-03 9.99968803e-01 -9.73160169e-05 8.78630161e+00] [-5.57705381e-03 5.32665322e-05 9.99984447e-01 -1.85613357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters 0.05576265289073832 Centerline is valid? [True, True] Translation: X:302.66, Y:8.78, Z:-1.86 [[ 9.99943189e-01 9.42178926e-03 4.98488538e-03 3.02663827e+02] [-9.42147225e-03 9.99955613e-01 -8.70746346e-05 8.78493587e+00] [-4.98548452e-03 4.01047285e-05 9.99987572e-01 -1.85684534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters 0.05563970341468649 Centerline is valid? [True, True] Translation: X:302.72, Y:8.78, Z:-1.86 [[ 9.99971322e-01 5.27348111e-03 5.43554742e-03 3.02724357e+02] [-5.27304260e-03 9.99986093e-01 -9.50022237e-05 8.78412603e+00] [-5.43597282e-03 6.63376261e-05 9.99985223e-01 -1.85664271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters 0.05610712287237148 Centerline is valid? [True, True] Translation: X:302.78, Y:8.78, Z:-1.86 [[ 9.99985458e-01 -3.00110778e-03 4.48083217e-03 3.02784939e+02] [ 3.00148881e-03 9.99995492e-01 -7.83135563e-05 8.78007327e+00] [-4.48057694e-03 9.17615850e-05 9.99989958e-01 -1.85730038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters 0.05697316634964113 Centerline is valid? [True, True] Translation: X:302.84, Y:8.77, Z:-1.86 [[ 9.99952984e-01 -9.28226718e-03 2.80514526e-03 3.02844111e+02] [ 9.28244129e-03 9.99956916e-01 -4.90544737e-05 8.76668449e+00] [-2.80456906e-03 7.50907635e-05 9.99996064e-01 -1.85862926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58439141799994 meters 0.05666240301291412 Centerline is valid? [True, True] Translation: X:302.90, Y:8.77, Z:-1.86 [[ 9.99820266e-01 -1.86033100e-02 3.65420310e-03 3.02904720e+02] [ 1.86036674e-02 9.99826935e-01 -6.38429889e-05 8.76712935e+00] [-3.65238300e-03 1.31813093e-04 9.99993321e-01 -1.85739037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64439141799994 meters 0.05489116291934966 Centerline is valid? [True, True] Translation: X:302.97, Y:8.78, Z:-1.86 [[ 9.99745191e-01 -2.21905285e-02 4.13934033e-03 3.02965237e+02] [ 2.21910179e-02 9.99753746e-01 -7.23304100e-05 8.77622499e+00] [-4.13671596e-03 1.64168155e-04 9.99991430e-01 -1.85681394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70439141799994 meters 0.05570748092136943 Centerline is valid? [True, True] Translation: X:303.03, Y:8.77, Z:-1.86 [[ 9.99713723e-01 -2.34542795e-02 4.72965683e-03 3.03026218e+02] [ 2.34549324e-02 9.99724892e-01 -8.26125228e-05 8.77036982e+00] [-4.72641804e-03 1.93522654e-04 9.99988812e-01 -1.85743793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76439141799995 meters 0.05488118425104876 Centerline is valid? [True, True] Translation: X:303.09, Y:8.78, Z:-1.86 [[ 9.99762193e-01 -2.13062504e-02 4.64768650e-03 3.03086901e+02] [ 2.13068586e-02 9.99772980e-01 -8.13761296e-05 8.77677701e+00] [-4.64489756e-03 1.80384377e-04 9.99989196e-01 -1.85754699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82439141799995 meters 0.05644430440986073 Centerline is valid? [True, True] Translation: X:303.15, Y:8.77, Z:-1.86 [[ 9.99823834e-01 -1.82932846e-02 4.20196241e-03 3.03146413e+02] [ 1.82937551e-02 9.99832653e-01 -7.35738884e-05 8.76854285e+00] [-4.19991331e-03 1.50430599e-04 9.99991169e-01 -1.85775633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88439141799995 meters 0.05524087742861161 Centerline is valid? [True, True] Translation: X:303.21, Y:8.78, Z:-1.86 [[ 9.99907109e-01 -1.32277959e-02 3.28628449e-03 3.03206738e+02] [ 1.32280563e-02 9.99912504e-01 -5.75151445e-05 8.77856874e+00] [-3.28523615e-03 1.00980958e-04 9.99994598e-01 -1.85781759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94439141799995 meters 0.05537569239373985 Centerline is valid? [True, True] Translation: X:303.27, Y:8.78, Z:-1.86 [[ 9.99949269e-01 -9.63843263e-03 2.92592581e-03 3.03267057e+02] [ 9.63862382e-03 9.99953546e-01 -5.12490768e-05 8.77838319e+00] [-2.92529593e-03 7.94483751e-05 9.99995718e-01 -1.85819723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00439141799995 meters 0.055546212695681316 Centerline is valid? [True, True] Translation: X:303.33, Y:8.78, Z:-1.86 [[ 9.99983711e-01 -5.27479080e-03 2.18039449e-03 3.03327552e+02] [ 5.27488661e-03 9.99986087e-01 -3.81907170e-05 8.78388761e+00] [-2.18016271e-03 4.96914287e-05 9.99997622e-01 -1.85889160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06439141799996 meters 0.05523566344358671 Centerline is valid? [True, True] Translation: X:303.39, Y:8.79, Z:-1.86 [[ 9.99994976e-01 -2.92278756e-03 1.22703656e-03 3.03388953e+02] [ 2.92281598e-03 9.99995728e-01 -2.13672026e-05 8.78623283e+00] [-1.22696887e-03 2.49534973e-05 9.99999247e-01 -1.85964913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12439141799996 meters 0.055303516800593935 Centerline is valid? [True, True] Translation: X:303.45, Y:8.79, Z:-1.86 [[ 9.99999746e-01 7.11820801e-04 -3.22656801e-05 3.03449266e+02] [-7.11820775e-04 9.99999747e-01 8.29775711e-07 8.78719184e+00] [ 3.22662624e-05 -8.06808113e-07 9.99999999e-01 -1.86037118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18439141799996 meters 0.05620683221080493 Centerline is valid? [True, True] Translation: X:303.51, Y:8.79, Z:-1.86 [[ 9.99988159e-01 4.86637522e-03 -7.36966088e-06 3.03509258e+02] [-4.86637522e-03 9.99988159e-01 7.96866948e-08 8.79075526e+00] [ 7.36996127e-06 -4.38222101e-08 1.00000000e+00 -1.85986471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24439141799996 meters 0.05566374586011246 Centerline is valid? [True, True] Translation: X:303.57, Y:8.79, Z:-1.86 [[ 9.99966396e-01 8.19667607e-03 1.48710560e-04 3.03567858e+02] [-8.19667575e-03 9.99966407e-01 -2.75840700e-06 8.79129429e+00] [-1.48728175e-04 1.53938207e-06 9.99999989e-01 -1.86025978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30439141799997 meters 0.0550877113975552 Centerline is valid? [True, True] Translation: X:303.63, Y:8.79, Z:-1.86 [[ 9.99908583e-01 1.34702936e-02 1.17321875e-03 3.03626504e+02] [-1.34702785e-02 9.99909271e-01 -2.07516103e-05 8.79487633e+00] [-1.17339184e-03 4.94612988e-06 9.99999312e-01 -1.85966755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36439141799997 meters 0.05580209351551128 Centerline is valid? [True, True] Translation: X:303.68, Y:8.80, Z:-1.86 [[ 9.99809588e-01 1.94233398e-02 1.87653070e-03 3.03684352e+02] [-1.94233120e-02 9.99811349e-01 -3.30454025e-05 8.79583224e+00] [-1.87681855e-03 -3.40933095e-06 9.99998239e-01 -1.85826035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42439141799997 meters 0.05648116271094661 Centerline is valid? [True, True] Translation: X:303.74, Y:8.79, Z:-1.86 [[ 9.99749872e-01 2.23263182e-02 1.31483247e-03 3.03743408e+02] [-2.23263066e-02 9.99750737e-01 -2.34553414e-05 8.79367608e+00] [-1.31502840e-03 -5.90587830e-06 9.99999135e-01 -1.85693774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters 0.05609495912088327 Centerline is valid? [True, True] Translation: X:303.80, Y:8.80, Z:-1.86 [[ 9.99687884e-01 2.49824646e-02 -1.03582011e-04 3.03802438e+02] [-2.49824646e-02 9.99687890e-01 1.39939819e-06 8.79703612e+00] [ 1.03584642e-04 1.18877252e-06 9.99999995e-01 -1.86103892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters 0.05590003824957835 Centerline is valid? [True, True] Translation: X:303.86, Y:8.79, Z:-1.86 [[ 9.99669374e-01 2.57112046e-02 -2.78311056e-04 3.03861639e+02] [-2.57112043e-02 9.99669412e-01 4.60886164e-06 8.79284171e+00] [ 2.78337549e-04 2.54837461e-06 9.99999961e-01 -1.85979608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters 0.056579371383850226 Centerline is valid? [True, True] Translation: X:303.92, Y:8.79, Z:-1.86 [[ 9.99701526e-01 2.44289382e-02 -2.92313337e-04 3.03918945e+02] [-2.44289378e-02 9.99701569e-01 4.85054655e-06 8.78853474e+00] [ 2.92344595e-04 2.29180555e-06 9.99999957e-01 -1.86161813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters 0.05587652689393706 Centerline is valid? [True, True] Translation: X:303.98, Y:8.78, Z:-1.86 [[ 9.99795450e-01 2.02249865e-02 8.98485164e-05 3.03977216e+02] [-2.02249864e-02 9.99795454e-01 -1.70287633e-06 8.77945153e+00] [-8.98645790e-05 -1.14657006e-07 9.99999996e-01 -1.86073222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters 0.05555714783621309 Centerline is valid? [True, True] Translation: X:304.03, Y:8.77, Z:-1.86 [[ 9.99880832e-01 1.54369250e-02 -1.52433759e-04 3.04034974e+02] [-1.54369248e-02 9.99880844e-01 2.35918277e-06 8.77076592e+00] [ 1.52452014e-04 -5.79314944e-09 9.99999988e-01 -1.86080124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters 0.05656874998738609 Centerline is valid? [True, True] Translation: X:304.09, Y:8.77, Z:-1.86 [[ 9.99918410e-01 1.27647490e-02 -4.83545910e-04 3.04092678e+02] [-1.27647466e-02 9.99918527e-01 8.03249329e-06 8.76684593e+00] [ 4.83609047e-04 -1.85949691e-06 9.99999883e-01 -1.85815459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters 0.05568282343684756 Centerline is valid? [True, True] Translation: X:304.15, Y:8.76, Z:-1.86 [[ 9.99951416e-01 9.85623205e-03 1.42491411e-04 3.04151577e+02] [-9.85623178e-03 9.99951426e-01 -2.58896813e-06 8.75788785e+00] [-1.42510008e-04 1.18441398e-06 9.99999990e-01 -1.86161069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters 0.05574431539140729 Centerline is valid? [True, True] Translation: X:304.21, Y:8.74, Z:-1.86 [[ 9.99987180e-01 4.98127022e-03 9.09238896e-04 3.04209453e+02] [-4.98125798e-03 9.99987593e-01 -1.57287298e-05 8.74451046e+00] [-9.09305964e-04 1.11993747e-05 9.99999587e-01 -1.86332884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters 0.057031750429750026 Centerline is valid? [True, True] Translation: X:304.27, Y:8.74, Z:-1.86 [[ 9.99998095e-01 1.69680323e-03 9.64795605e-04 3.04268874e+02] [-1.69678804e-03 9.99998560e-01 -1.65588196e-05 8.73769885e+00] [-9.64822313e-04 1.49217344e-05 9.99999534e-01 -1.86263468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters 0.056208350217598034 Centerline is valid? [True, True] Translation: X:304.33, Y:8.73, Z:-1.86 [[ 9.99995533e-01 2.81569520e-03 1.00288092e-03 3.04328392e+02] [-2.81567942e-03 9.99996036e-01 -1.71511126e-05 8.73198577e+00] [-1.00292524e-03 1.43272448e-05 9.99999497e-01 -1.86384476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08439141799994 meters 0.05632702101977022 Centerline is valid? [True, True] Translation: X:304.39, Y:8.73, Z:-1.86 [[ 9.99989582e-01 4.42393389e-03 1.12494825e-03 3.04388141e+02] [-4.42391507e-03 9.99990214e-01 -1.92214065e-05 8.72952075e+00] [-1.12502228e-03 1.42445308e-05 9.99999367e-01 -1.86458149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14439141799994 meters 0.05654741198266462 Centerline is valid? [True, True] Translation: X:304.45, Y:8.73, Z:-1.86 [[ 9.99923137e-01 1.23741161e-02 7.75168896e-04 3.04448360e+02] [-1.23741096e-02 9.99923438e-01 -1.32566578e-05 8.73224098e+00] [-7.75273587e-04 3.66361406e-06 9.99999699e-01 -1.86268568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20439141799994 meters 0.05688882488855738 Centerline is valid? [True, True] Translation: X:304.51, Y:8.73, Z:-1.86 [[ 9.99781633e-01 2.08756268e-02 9.46080380e-04 3.04506436e+02] [-2.08756207e-02 9.99782080e-01 -1.63211214e-05 8.73014648e+00] [-9.46214925e-04 -3.43245783e-06 9.99999552e-01 -1.86314709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26439141799995 meters 0.056869766628698776 Centerline is valid? [True, True] Translation: X:304.57, Y:8.73, Z:-1.86 [[ 9.99709318e-01 2.40900195e-02 9.74653741e-04 3.04565227e+02] [-2.40900143e-02 9.99709793e-01 -1.70296063e-05 8.72681684e+00] [-9.74781134e-04 -6.45476647e-06 9.99999525e-01 -1.86401763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32439141799995 meters 0.0574423242152226 Centerline is valid? [True, True] Translation: X:304.62, Y:8.72, Z:-1.86 [[ 9.99700183e-01 2.44838839e-02 2.89776002e-04 3.04623511e+02] [-2.44838834e-02 9.99700225e-01 -5.02983809e-06 8.71918495e+00] [-2.89812285e-04 -2.06651180e-06 9.99999958e-01 -1.86428935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38439141799995 meters 0.05737083928728277 Centerline is valid? [True, True] Translation: X:304.68, Y:8.71, Z:-1.86 [[ 9.99784415e-01 2.07622319e-02 -2.29306594e-04 3.04681138e+02] [-2.07622316e-02 9.99784442e-01 3.63280079e-06 8.71037181e+00] [ 2.29332590e-04 1.12889902e-06 9.99999974e-01 -1.86458469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44439141799995 meters 0.05720302536795457 Centerline is valid? [True, True] Translation: X:304.74, Y:8.70, Z:-1.87 [[ 9.99871648e-01 1.60001293e-02 8.26994505e-04 3.04739500e+02] [-1.60001232e-02 9.99871990e-01 -1.40606262e-05 8.70346305e+00] [-8.27113614e-04 8.26807538e-07 9.99999658e-01 -1.86550210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50439141799995 meters 0.05759140204126829 Centerline is valid? [True, True] Translation: X:304.80, Y:8.69, Z:-1.86 [[ 9.99970633e-01 7.55738634e-03 1.27243228e-03 3.04799147e+02] [-7.55736513e-03 9.99971442e-01 -2.14806266e-05 8.69343192e+00] [-1.27255828e-03 1.18637604e-05 9.99999190e-01 -1.86387075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56439141799996 meters 0.05775490308601906 Centerline is valid? [True, True] Translation: X:304.86, Y:8.68, Z:-1.86 [[ 9.99998211e-01 1.16595814e-03 1.48961354e-03 3.04859138e+02] [-1.16592215e-03 9.99999320e-01 -2.50286515e-05 8.68489412e+00] [-1.48964171e-03 2.32918333e-05 9.99998890e-01 -1.86480713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62439141799996 meters 0.05912127478842024 Centerline is valid? [True, True] Translation: X:304.92, Y:8.67, Z:-1.87 [[ 9.99966744e-01 -8.04511817e-03 1.33691820e-03 3.04918568e+02] [ 8.04515517e-03 9.99967637e-01 -2.22944482e-05 8.67155739e+00] [-1.33669558e-03 3.30494211e-05 9.99999106e-01 -1.86579106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68439141799996 meters 0.05755613557687317 Centerline is valid? [True, True] Translation: X:304.98, Y:8.67, Z:-1.87 [[ 9.99878081e-01 -1.55187367e-02 1.72995404e-03 3.04979282e+02] [ 1.55188103e-02 9.99879576e-01 -2.91117466e-05 8.66737839e+00] [-1.72929393e-03 5.59550258e-05 9.99998503e-01 -1.86534358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74439141799996 meters 0.05870016542218121 Centerline is valid? [True, True] Translation: X:305.04, Y:8.66, Z:-1.87 [[ 9.99851388e-01 -1.71636919e-02 1.61522047e-03 3.05040444e+02] [ 1.71637575e-02 9.99852692e-01 -2.67203741e-05 8.65615593e+00] [-1.61452392e-03 5.44396556e-05 9.99998695e-01 -1.86684844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80439141799997 meters 0.057603560723743105 Centerline is valid? [True, True] Translation: X:305.10, Y:8.66, Z:-1.87 [[ 9.99877179e-01 -1.55710246e-02 1.78069783e-03 3.05102257e+02] [ 1.55711028e-02 9.99878763e-01 -3.00786762e-05 8.66150579e+00] [-1.78001359e-03 5.78024109e-05 9.99998414e-01 -1.86630202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86439141799997 meters 0.05869224318948608 Centerline is valid? [True, True] Translation: X:305.16, Y:8.65, Z:-1.87 [[ 9.99950270e-01 -9.76976785e-03 2.00214972e-03 3.05161843e+02] [ 9.76985549e-03 9.99952273e-01 -3.39933881e-05 8.65266283e+00] [-2.00172206e-03 5.35524110e-05 9.99997995e-01 -1.86801514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92439141799997 meters 0.058455042486442926 Centerline is valid? [True, True] Translation: X:305.22, Y:8.66, Z:-1.87 [[ 9.99987445e-01 -4.68865014e-03 1.76808448e-03 3.05222214e+02] [ 4.68871053e-03 9.99989008e-01 -3.00124026e-05 8.65765399e+00] [-1.76792433e-03 3.83020621e-05 9.99998436e-01 -1.86734454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters 0.05863777051699693 Centerline is valid? [True, True] Translation: X:305.28, Y:8.66, Z:-1.87 [[ 9.99997084e-01 2.26224058e-03 8.45632980e-04 3.05282352e+02] [-2.26222930e-03 9.99997441e-01 -1.43048858e-05 8.65846376e+00] [-8.45663177e-04 1.23918283e-05 9.99999642e-01 -1.86879329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters 0.05836405138566578 Centerline is valid? [True, True] Translation: X:305.34, Y:8.66, Z:-1.87 [[ 9.99975348e-01 7.02048947e-03 -1.24295165e-04 3.05342706e+02] [-7.02048927e-03 9.99975356e-01 2.06024561e-06 8.66361359e+00] [ 1.24306566e-04 -1.18758194e-06 9.99999992e-01 -1.86697048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters 0.0580000426721636 Centerline is valid? [True, True] Translation: X:305.40, Y:8.66, Z:-1.87 [[ 9.99964603e-01 8.39882836e-03 5.02482677e-04 3.05401522e+02] [-8.39882485e-03 9.99964729e-01 -9.08904053e-06 8.66173633e+00] [-5.02541292e-04 4.86845482e-06 9.99999874e-01 -1.86667789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters 0.05784217493422068 Centerline is valid? [True, True] Translation: X:305.46, Y:8.66, Z:-1.87 [[ 9.99959392e-01 8.78268896e-03 2.01936607e-03 3.05460210e+02] [-8.78263755e-03 9.99961431e-01 -3.43234559e-05 8.65873785e+00] [-2.01958964e-03 1.65867019e-05 9.99997960e-01 -1.86606664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters 0.05812928741562524 Centerline is valid? [True, True] Translation: X:305.52, Y:8.65, Z:-1.87 [[ 9.99965205e-01 8.17968753e-03 1.63737771e-03 3.05520043e+02] [-8.17965344e-03 9.99966546e-01 -2.75157511e-05 8.65495845e+00] [-1.63754800e-03 1.41216115e-05 9.99998659e-01 -1.86715345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters 0.05783735040625894 Centerline is valid? [True, True] Translation: X:305.58, Y:8.65, Z:-1.87 [[ 9.99984932e-01 5.39012856e-03 1.04081935e-03 3.05579913e+02] [-5.39011321e-03 9.99985473e-01 -1.75512730e-05 8.65193898e+00] [-1.04089883e-03 1.19408745e-05 9.99999458e-01 -1.86783017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters 0.05800616970077051 Centerline is valid? [True, True] Translation: X:305.64, Y:8.65, Z:-1.87 [[ 9.99993496e-01 3.51517135e-03 8.06742525e-04 3.05639865e+02] [-3.51516148e-03 9.99993822e-01 -1.36502609e-05 8.64813505e+00] [-8.06785523e-04 1.08143418e-05 9.99999674e-01 -1.86847097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters 0.05761869440024219 Centerline is valid? [True, True] Translation: X:305.70, Y:8.64, Z:-1.87 [[ 9.99994643e-01 3.10491221e-03 1.03617481e-03 3.05699757e+02] [-3.10489584e-03 9.99995180e-01 -1.74086460e-05 8.64329600e+00] [-1.03622386e-03 1.41913379e-05 9.99999463e-01 -1.86863206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters 0.05826533410127249 Centerline is valid? [True, True] Translation: X:305.76, Y:8.64, Z:-1.87 [[ 9.99966104e-01 8.06048754e-03 1.67918466e-03 3.05759561e+02] [-8.06045148e-03 9.99967514e-01 -2.82465435e-05 8.64323720e+00] [-1.67935779e-03 1.47105996e-05 9.99998590e-01 -1.86765413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52439141799994 meters 0.05852554257221932 Centerline is valid? [True, True] Translation: X:305.82, Y:8.64, Z:-1.87 [[ 9.99909960e-01 1.33850470e-02 9.55407087e-04 3.05818734e+02] [-1.33850377e-02 9.99910416e-01 -1.60846020e-05 8.64350935e+00] [-9.55536791e-04 3.29499386e-06 9.99999543e-01 -1.86848230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58439141799994 meters 0.05910945750584348 Centerline is valid? [True, True] Translation: X:305.88, Y:8.64, Z:-1.87 [[ 9.99761886e-01 2.18163569e-02 -4.67518031e-04 3.05876811e+02] [-2.18163557e-02 9.99761995e-01 7.58984499e-06 8.64458477e+00] [ 4.67572342e-04 2.61150194e-06 9.99999891e-01 -1.86979086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64439141799994 meters 0.058943122577249416 Centerline is valid? [True, True] Translation: X:305.94, Y:8.64, Z:-1.87 [[ 9.99669888e-01 2.56699639e-02 -1.08094117e-03 3.05935399e+02] [-2.56699598e-02 9.99670472e-01 1.76680789e-05 8.64302334e+00] [ 1.08103851e-03 1.00854700e-05 9.99999416e-01 -1.86900861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70439141799994 meters 0.05893994636374608 Centerline is valid? [True, True] Translation: X:305.99, Y:8.64, Z:-1.87 [[ 9.99614962e-01 2.76672692e-02 -2.10949188e-03 3.05993674e+02] [-2.76672571e-02 9.99617188e-01 3.49318864e-05 8.64386236e+00] [ 2.10965081e-03 2.34454178e-05 9.99997774e-01 -1.87067194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76439141799995 meters 0.05889638847375625 Centerline is valid? [True, True] Translation: X:306.05, Y:8.64, Z:-1.87 [[ 9.99693510e-01 2.46991912e-02 -1.68413828e-03 3.06051471e+02] [-2.46991795e-02 9.99694928e-01 2.77319571e-05 8.63861070e+00] [ 1.68430945e-03 1.38733761e-05 9.99998581e-01 -1.87006556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82439141799995 meters 0.059468302153386325 Centerline is valid? [True, True] Translation: X:306.11, Y:8.63, Z:-1.87 [[ 9.99800305e-01 1.99273636e-02 -1.49997096e-03 3.06109986e+02] [-1.99273490e-02 9.99801430e-01 2.46769861e-05 8.63067003e+00] [ 1.50016485e-03 5.21838656e-06 9.99998875e-01 -1.86687499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88439141799995 meters 0.05955523504544451 Centerline is valid? [True, True] Translation: X:306.17, Y:8.62, Z:-1.87 [[ 9.99950162e-01 9.90543505e-03 -1.24729770e-03 3.06168162e+02] [-9.90541728e-03 9.99950940e-01 2.04239790e-05 8.62192332e+00] [ 1.24743882e-03 -8.06795686e-06 9.99999222e-01 -1.86729747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94439141799995 meters 0.06014669642860056 Centerline is valid? [True, True] Translation: X:306.23, Y:8.61, Z:-1.87 [[ 9.99997319e-01 -7.03492745e-04 -2.20637378e-03 3.06227612e+02] [ 7.03574802e-04 9.99999752e-01 3.64146595e-05 8.60763292e+00] [ 2.20634761e-03 -3.79669109e-05 9.99997565e-01 -1.86997842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00439141799995 meters 0.06056769962275041 Centerline is valid? [True, True] Translation: X:306.29, Y:8.61, Z:-1.87 [[ 9.99987862e-01 -4.48271676e-03 -2.04478509e-03 3.06287570e+02] [ 4.48279526e-03 9.99989952e-01 3.38074966e-05 8.60503614e+00] [ 2.04461300e-03 -4.29734391e-05 9.99997909e-01 -1.86936006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06439141799996 meters 0.059627505430478366 Centerline is valid? [True, True] Translation: X:306.35, Y:8.60, Z:-1.87 [[ 9.99933232e-01 -1.13984387e-02 -1.89923800e-03 3.06348302e+02] [ 1.13985190e-02 9.99935034e-01 3.14782948e-05 8.60367514e+00] [ 1.89875581e-03 -5.31246935e-05 9.99998196e-01 -1.86785532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12439141799996 meters 0.061565472737723156 Centerline is valid? [True, True] Translation: X:306.41, Y:8.59, Z:-1.87 [[ 9.99831365e-01 -1.82685392e-02 -1.87116134e-03 3.06407549e+02] [ 1.82686290e-02 9.99833114e-01 3.08975781e-05 8.58869427e+00] [ 1.87028462e-03 -6.50759199e-05 9.99998249e-01 -1.86985130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18439141799996 meters 0.060338801841984875 Centerline is valid? [True, True] Translation: X:306.47, Y:8.59, Z:-1.87 [[ 9.99813390e-01 -1.92429447e-02 -1.70133588e-03 3.06469379e+02] [ 1.92430207e-02 9.99814836e-01 2.83073258e-05 8.58886015e+00] [ 1.70047613e-03 -6.10408848e-05 9.99998552e-01 -1.86976863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24439141799996 meters 0.060137633281836654 Centerline is valid? [True, True] Translation: X:306.53, Y:8.59, Z:-1.87 [[ 9.99858270e-01 -1.67918042e-02 -1.21500114e-03 3.06530377e+02] [ 1.67918412e-02 9.99859007e-01 2.02427985e-05 8.59215569e+00] [ 1.21448992e-03 -4.06420356e-05 9.99999262e-01 -1.87001200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30439141799997 meters 0.06019974192099636 Centerline is valid? [True, True] Translation: X:306.59, Y:8.60, Z:-1.87 [[ 9.99959200e-01 -8.87915015e-03 -1.66087485e-03 3.06591320e+02] [ 8.87920816e-03 9.99960579e-01 2.75545289e-05 8.60122705e+00] [ 1.66056472e-03 -4.23006582e-05 9.99998620e-01 -1.86928830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36439141799997 meters 0.059872378727012066 Centerline is valid? [True, True] Translation: X:306.65, Y:8.60, Z:-1.87 [[ 9.99998062e-01 4.25314649e-04 -1.92227586e-03 3.06651153e+02] [-4.25254122e-04 9.99999909e-01 3.18957656e-05 8.60355549e+00] [ 1.92228925e-03 -3.10782481e-05 9.99998152e-01 -1.87045174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42439141799997 meters 0.05952087014563391 Centerline is valid? [True, True] Translation: X:306.71, Y:8.61, Z:-1.87 [[ 9.99967107e-01 7.87336097e-03 -1.94813008e-03 3.06711226e+02] [-7.87331298e-03 9.99969004e-01 3.23043390e-05 8.60989408e+00] [ 1.94832404e-03 -1.69650385e-05 9.99998102e-01 -1.87090680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters 0.05986355310668174 Centerline is valid? [True, True] Translation: X:306.77, Y:8.61, Z:-1.87 [[ 9.99944300e-01 1.04394163e-02 -1.55403098e-03 3.06770114e+02] [-1.04393903e-02 9.99945508e-01 2.48585079e-05 8.61191765e+00] [ 1.55420581e-03 -8.63398732e-06 9.99998792e-01 -1.87140994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters 0.0598717848092809 Centerline is valid? [True, True] Translation: X:306.83, Y:8.61, Z:-1.87 [[ 9.99932303e-01 1.15553681e-02 -1.36491468e-03 3.06828151e+02] [-1.15553486e-02 9.99933235e-01 2.21531065e-05 8.61336966e+00] [ 1.36507954e-03 -6.37954182e-06 9.99999068e-01 -1.87050480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters 0.059792171169654205 Centerline is valid? [True, True] Translation: X:306.89, Y:8.62, Z:-1.87 [[ 9.99945581e-01 1.04285465e-02 -2.82558910e-04 3.06887483e+02] [-1.04285456e-02 9.99945621e-01 4.42888973e-06 8.61599010e+00] [ 2.82589731e-04 -1.48197023e-06 9.99999960e-01 -1.86834179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters 0.058647236773448734 Centerline is valid? [True, True] Translation: X:306.95, Y:8.61, Z:-1.87 [[ 9.99982990e-01 5.80880496e-03 5.27667589e-04 3.06946294e+02] [-5.80880116e-03 9.99983129e-01 -8.73671374e-06 8.61231291e+00] [-5.27709436e-04 5.67144903e-06 9.99999861e-01 -1.86997913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters 0.060150941874945935 Centerline is valid? [True, True] Translation: X:307.01, Y:8.61, Z:-1.87 [[ 9.99998782e-01 1.27293783e-03 9.03056428e-04 3.07005382e+02] [-1.27292507e-03 9.99999190e-01 -1.47071995e-05 8.60889101e+00] [-9.03074418e-04 1.35576584e-05 9.99999592e-01 -1.87061856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters 0.05949954475677821 Centerline is valid? [True, True] Translation: X:307.07, Y:8.61, Z:-1.87 [[ 9.99968679e-01 -7.75290115e-03 1.59153806e-03 3.07065876e+02] [ 7.75295238e-03 9.99969945e-01 -2.60181108e-05 8.60691157e+00] [-1.59128851e-03 3.83564147e-05 9.99998733e-01 -1.87086398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters 0.05950440398685704 Centerline is valid? [True, True] Translation: X:307.13, Y:8.60, Z:-1.87 [[ 9.99865041e-01 -1.63082698e-02 1.98482943e-03 3.07125807e+02] [ 1.63083664e-02 9.99867009e-01 -3.25066079e-05 8.59916027e+00] [-1.98403534e-03 6.48715466e-05 9.99998030e-01 -1.87242678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters 0.0606509346837943 Centerline is valid? [True, True] Translation: X:307.19, Y:8.59, Z:-1.87 [[ 9.99772924e-01 -2.12345026e-02 1.78764367e-03 3.07185437e+02] [ 2.12345887e-02 9.99774520e-01 -2.91653401e-05 8.59463522e+00] [-1.78662129e-03 6.71185955e-05 9.99998402e-01 -1.87308334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters 0.0577196574786695 Centerline is valid? [True, True] Translation: X:307.25, Y:8.60, Z:-1.87 [[ 9.99666153e-01 -2.57091855e-02 2.57304437e-03 3.07246318e+02] [ 2.57093794e-02 9.99669458e-01 -4.22989182e-05 8.60453517e+00] [-2.57110641e-03 1.08436171e-04 9.99996689e-01 -1.87234626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02439141799994 meters 0.05902802972893359 Centerline is valid? [True, True] Translation: X:307.31, Y:8.60, Z:-1.87 [[ 9.99574014e-01 -2.90653872e-02 2.64469289e-03 3.07305362e+02] [ 2.90656036e-02 9.99577505e-01 -4.34097920e-05 8.60355586e+00] [-2.64231380e-03 1.20260895e-04 9.99996502e-01 -1.87281293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08439141799994 meters 0.05790994997887813 Centerline is valid? [True, True] Translation: X:307.37, Y:8.62, Z:-1.87 [[ 9.99561604e-01 -2.93922899e-02 3.56261508e-03 3.07368031e+02] [ 2.93926851e-02 9.99567940e-01 -5.86136136e-05 8.61541160e+00] [-3.55935303e-03 1.63302741e-04 9.99993652e-01 -1.87337659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14439141799994 meters 0.05806792142102551 Centerline is valid? [True, True] Translation: X:307.43, Y:8.62, Z:-1.87 [[ 9.99598347e-01 -2.82050296e-02 2.76057276e-03 3.07428308e+02] [ 2.82052628e-02 9.99602151e-01 -4.55559714e-05 8.61810498e+00] [-2.75818956e-03 1.23400354e-04 9.99996189e-01 -1.87407192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20439141799994 meters 0.05823051830492539 Centerline is valid? [True, True] Translation: X:307.49, Y:8.62, Z:-1.87 [[ 9.99622324e-01 -2.73410978e-02 2.77014005e-03 3.07490967e+02] [ 2.73413291e-02 9.99626155e-01 -4.56301179e-05 8.62232055e+00] [-2.76785687e-03 1.21352195e-04 9.99996162e-01 -1.87471223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26439141799995 meters 0.058385329264527566 Centerline is valid? [True, True] Translation: X:307.55, Y:8.63, Z:-1.87 [[ 9.99642695e-01 -2.64923030e-02 3.55528229e-03 3.07552381e+02] [ 2.64926791e-02 9.99649006e-01 -5.87228218e-05 8.62692515e+00] [-3.55247871e-03 1.52890793e-04 9.99993678e-01 -1.87404330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32439141799995 meters 0.05719299832945571 Centerline is valid? [True, True] Translation: X:307.62, Y:8.64, Z:-1.87 [[ 9.99667472e-01 -2.56129431e-02 2.98709124e-03 3.07615312e+02] [ 2.56132051e-02 9.99671927e-01 -4.95018206e-05 8.64164884e+00] [-2.98484337e-03 1.25994341e-04 9.99995537e-01 -1.87385671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38439141799995 meters 0.058748216228051604 Centerline is valid? [True, True] Translation: X:307.68, Y:8.65, Z:-1.87 [[ 9.99696960e-01 -2.45685811e-02 1.54026961e-03 3.07678195e+02] [ 2.45686495e-02 9.99698145e-01 -2.54770976e-05 8.64849652e+00] [-1.53917874e-03 6.33117213e-05 9.99998813e-01 -1.87389360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44439141799995 meters 0.0581111614270055 Centerline is valid? [True, True] Translation: X:307.74, Y:8.66, Z:-1.87 [[ 9.99751250e-01 -2.23019098e-02 2.51426162e-04 3.07738158e+02] [ 2.23019116e-02 9.99751281e-01 -4.20935923e-06 8.65545237e+00] [-2.51269751e-04 9.81559618e-06 9.99999968e-01 -1.87472871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50439141799995 meters 0.06050249353611814 Centerline is valid? [True, True] Translation: X:307.80, Y:8.65, Z:-1.88 [[ 9.99812570e-01 -1.93495289e-02 -6.48480357e-04 3.07797565e+02] [ 1.93495400e-02 9.99812780e-01 1.08568128e-05 8.64556221e+00] [ 6.48148874e-04 -2.34025745e-05 9.99999790e-01 -1.87699574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56439141799996 meters 0.05773491290201025 Centerline is valid? [True, True] Translation: X:307.86, Y:8.67, Z:-1.87 [[ 9.99916103e-01 -1.29443023e-02 4.80942547e-04 3.07858710e+02] [ 1.29443077e-02 9.99916219e-01 -8.02892567e-06 8.66807800e+00] [-4.80798324e-04 1.42537204e-05 9.99999884e-01 -1.87392266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62439141799996 meters 0.05725800150692695 Centerline is valid? [True, True] Translation: X:307.92, Y:8.68, Z:-1.87 [[ 9.99987854e-01 -4.71212655e-03 1.44505702e-03 3.07919996e+02] [ 4.71216644e-03 9.99988897e-01 -2.42005317e-05 8.68252905e+00] [-1.44492694e-03 3.10095869e-05 9.99998956e-01 -1.87273360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68439141799996 meters 0.05761941386455693 Centerline is valid? [True, True] Translation: X:307.98, Y:8.69, Z:-1.87 [[ 9.99993933e-01 3.24874617e-03 1.25705432e-03 3.07979989e+02] [-3.24872223e-03 9.99994723e-01 -2.10873851e-05 8.68873833e+00] [-1.25711619e-03 1.70034369e-05 9.99999210e-01 -1.87419334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74439141799996 meters 0.05795012655778711 Centerline is valid? [True, True] Translation: X:308.04, Y:8.69, Z:-1.87 [[ 9.99969540e-01 7.78620250e-03 5.43134164e-04 3.08039744e+02] [-7.78619874e-03 9.99969687e-01 -9.02803523e-06 8.69492256e+00] [-5.43187994e-04 4.79880969e-06 9.99999852e-01 -1.87498444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80439141799997 meters 0.05720691054665751 Centerline is valid? [True, True] Translation: X:308.10, Y:8.71, Z:-1.87 [[ 9.99928489e-01 1.19301643e-02 8.29427528e-04 3.08099329e+02] [-1.19301567e-02 9.99928833e-01 -1.42051979e-05 8.70574925e+00] [-8.29537971e-04 4.30898175e-06 9.99999656e-01 -1.87341599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86439141799997 meters 0.05808074291643133 Centerline is valid? [True, True] Translation: X:308.16, Y:8.71, Z:-1.88 [[ 9.99912562e-01 1.32217079e-02 -2.32686535e-04 3.08156411e+02] [-1.32217076e-02 9.99912589e-01 3.06114283e-06 8.70765994e+00] [ 2.32706670e-04 1.56381680e-08 9.99999973e-01 -1.87546833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92439141799997 meters 0.05746768653485291 Centerline is valid? [True, True] Translation: X:308.22, Y:8.71, Z:-1.87 [[ 9.99915548e-01 1.29897249e-02 4.04318374e-04 3.08215062e+02] [-1.29897231e-02 9.99915630e-01 -6.88177244e-06 8.71002438e+00] [-4.04373654e-04 1.62920752e-06 9.99999918e-01 -1.87492908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters 0.05667417005280993 Centerline is valid? [True, True] Translation: X:308.27, Y:8.71, Z:-1.87 [[ 9.99926926e-01 1.20395914e-02 1.09098148e-03 3.08274021e+02] [-1.20395787e-02 9.99927522e-01 -1.81995213e-05 8.71167078e+00] [-1.09112152e-03 5.06323409e-06 9.99999405e-01 -1.87389221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters 0.05674943449034009 Centerline is valid? [True, True] Translation: X:308.33, Y:8.71, Z:-1.87 [[ 9.99947851e-01 9.95864585e-03 2.26294088e-03 3.08331946e+02] [-9.95858653e-03 9.99950411e-01 -3.74773077e-05 8.71173800e+00] [-2.26320189e-03 1.49396607e-05 9.99997439e-01 -1.87386212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters 0.05710675766209451 Centerline is valid? [True, True] Translation: X:308.39, Y:8.71, Z:-1.87 [[ 9.99960863e-01 8.39255990e-03 2.79972071e-03 3.08389422e+02] [-8.39246350e-03 9.99964782e-01 -4.61781354e-05 8.71014254e+00] [-2.80000966e-03 2.26797742e-05 9.99996080e-01 -1.87464293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters 0.057319802882184766 Centerline is valid? [True, True] Translation: X:308.45, Y:8.71, Z:-1.88 [[ 9.99980118e-01 5.73580973e-03 2.62001892e-03 3.08449444e+02] [-5.73571666e-03 9.99983550e-01 -4.30365677e-05 8.70846962e+00] [-2.62022267e-03 2.80080259e-05 9.99996567e-01 -1.87523102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters 0.05764256112980402 Centerline is valid? [True, True] Translation: X:308.51, Y:8.70, Z:-1.88 [[ 9.99989518e-01 3.66286800e-03 2.74715616e-03 3.08508309e+02] [-3.66275799e-03 9.99993291e-01 -4.50732482e-05 8.70373889e+00] [-2.74730283e-03 3.50106076e-05 9.99996226e-01 -1.87612055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters 0.0571250297176486 Centerline is valid? [True, True] Translation: X:308.57, Y:8.70, Z:-1.88 [[ 9.99986382e-01 3.38325134e-03 3.97361379e-03 3.08569128e+02] [-3.38301957e-03 9.99994275e-01 -6.50489135e-05 8.70300050e+00] [-3.97381112e-03 5.16052145e-05 9.99992103e-01 -1.87664050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters 0.05729979223222345 Centerline is valid? [True, True] Translation: X:308.63, Y:8.70, Z:-1.88 [[ 9.99975241e-01 6.31679030e-03 3.10094277e-03 3.08629978e+02] [-6.31666340e-03 9.99980048e-01 -5.07141884e-05 8.70382315e+00] [-3.10120125e-03 3.11253211e-05 9.99995191e-01 -1.87666267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters 0.05788447234671782 Centerline is valid? [True, True] Translation: X:308.69, Y:8.70, Z:-1.88 [[ 9.99908911e-01 1.28657118e-02 4.07961985e-03 3.08690062e+02] [-1.28655459e-02 9.99917233e-01 -6.68943637e-05 8.70411739e+00] [-4.08014284e-03 1.44017338e-05 9.99991676e-01 -1.87766994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters 0.05761210304964399 Centerline is valid? [True, True] Translation: X:308.75, Y:8.70, Z:-1.88 [[ 9.99817674e-01 1.86068437e-02 4.28995764e-03 3.08748573e+02] [-1.86067133e-02 9.99826878e-01 -7.03066786e-05 8.70429364e+00] [-4.29052313e-03 -9.52815195e-06 9.99990796e-01 -1.87904682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52439141799994 meters 0.057990392584742166 Centerline is valid? [True, True] Translation: X:308.81, Y:8.70, Z:-1.88 [[ 9.99637272e-01 2.64826774e-02 4.89824971e-03 3.08807709e+02] [-2.64826037e-02 9.99649271e-01 -7.99058589e-05 8.70049705e+00] [-4.89864788e-03 -4.98415313e-05 9.99988000e-01 -1.87920458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58439141799994 meters 0.05823516466608226 Centerline is valid? [True, True] Translation: X:308.87, Y:8.70, Z:-1.88 [[ 9.99563412e-01 2.92184660e-02 4.38933606e-03 3.08865730e+02] [-2.92184335e-02 9.99573048e-01 -7.15366356e-05 8.69957402e+00] [-4.38955221e-03 -5.67441201e-05 9.99990364e-01 -1.87962833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64439141799994 meters 0.058205568622508176 Centerline is valid? [True, True] Translation: X:308.92, Y:8.69, Z:-1.88 [[ 9.99594123e-01 2.80472742e-02 4.99397956e-03 3.08924239e+02] [-2.80472186e-02 9.99606596e-01 -8.11724768e-05 8.69482556e+00] [-4.99429158e-03 -5.89277058e-05 9.99987527e-01 -1.88036133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70439141799994 meters 0.058477872925468785 Centerline is valid? [True, True] Translation: X:308.98, Y:8.68, Z:-1.88 [[ 9.99770036e-01 2.08835634e-02 4.87365047e-03 3.08984308e+02] [-2.08834260e-02 9.99781914e-01 -7.90788550e-05 8.68065781e+00] [-4.87423905e-03 -2.27178494e-05 9.99988121e-01 -1.88124324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76439141799995 meters 0.05781004234387505 Centerline is valid? [True, True] Translation: X:309.04, Y:8.67, Z:-1.88 [[ 9.99899413e-01 1.33399373e-02 4.81771655e-03 3.09042467e+02] [-1.33397153e-02 9.99911019e-01 -7.82020135e-05 8.67130701e+00] [-4.81833107e-03 1.39271802e-05 9.99988392e-01 -1.88194247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82439141799995 meters 0.057774581696702215 Centerline is valid? [True, True] Translation: X:309.10, Y:8.66, Z:-1.88 [[ 9.99992321e-01 3.55762221e-05 3.91867889e-03 3.09101719e+02] [-3.53276668e-05 9.99999997e-01 -6.34975091e-05 8.65535705e+00] [-3.91868114e-03 6.33585837e-05 9.99992320e-01 -1.88094110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88439141799995 meters 0.05825067031487623 Centerline is valid? [True, True] Translation: X:309.16, Y:8.64, Z:-1.88 [[ 9.99882453e-01 -1.49979327e-02 3.18481997e-03 3.09160787e+02] [ 1.49981729e-02 9.99887520e-01 -5.15422071e-05 8.63812863e+00] [-3.18368871e-03 9.93026290e-05 9.99994927e-01 -1.88110693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94439141799995 meters 0.05954073256843431 Centerline is valid? [True, True] Translation: X:309.22, Y:8.63, Z:-1.88 [[ 9.99675842e-01 -2.52490351e-02 3.27080665e-03 3.09220767e+02] [ 2.52493434e-02 9.99681183e-01 -5.29953607e-05 8.62789940e+00] [-3.26842578e-03 1.35563902e-04 9.99994649e-01 -1.88112527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00439141799995 meters 0.06029170034321992 Centerline is valid? [True, True] Translation: X:309.28, Y:8.61, Z:-1.88 [[ 9.99276584e-01 -3.78858994e-02 3.31174172e-03 3.09280544e+02] [ 3.78862847e-02 9.99282056e-01 -5.36531346e-05 8.61487287e+00] [-3.30733137e-03 1.79083910e-04 9.99994515e-01 -1.88148976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06439141799996 meters 0.056211057689379874 Centerline is valid? [True, True] Translation: X:309.34, Y:8.63, Z:-1.88 [[ 9.99001744e-01 -4.45056872e-02 3.84169751e-03 3.09341871e+02] [ 4.45062544e-02 9.99009104e-01 -6.22416388e-05 8.63139064e+00] [-3.83512068e-03 2.33159072e-04 9.99992619e-01 -1.88167446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12439141799996 meters 0.057472257975129074 Centerline is valid? [True, True] Translation: X:309.40, Y:8.62, Z:-1.88 [[ 9.98975783e-01 -4.51109161e-02 3.51992630e-03 3.09402695e+02] [ 4.51113959e-02 9.98981961e-01 -5.69836411e-05 8.62138070e+00] [-3.51377229e-03 2.15714066e-04 9.99993803e-01 -1.88252994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18439141799996 meters 0.056564470835512845 Centerline is valid? [True, True] Translation: X:309.46, Y:8.63, Z:-1.88 [[ 9.99070677e-01 -4.29374712e-02 3.76251536e-03 3.09462946e+02] [ 4.29380053e-02 9.99077737e-01 -6.12665452e-05 8.62839115e+00] [-3.75641470e-03 2.22764513e-04 9.99992920e-01 -1.88285632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24439141799996 meters 0.056132143236311216 Centerline is valid? [True, True] Translation: X:309.52, Y:8.63, Z:-1.88 [[ 9.99202963e-01 -3.98453699e-02 2.40522110e-03 3.09522086e+02] [ 3.98455794e-02 9.99205849e-01 -3.92354853e-05 8.62530035e+00] [-2.40174764e-03 1.35041642e-04 9.99997107e-01 -1.88425507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30439141799997 meters 0.06045871822914759 Centerline is valid? [True, True] Translation: X:309.58, Y:8.61, Z:-1.89 [[ 9.99440405e-01 -3.34386423e-02 8.56299634e-04 3.09581575e+02] [ 3.34386665e-02 9.99440771e-01 -1.39555377e-05 8.61261430e+00] [-8.55354113e-04 4.25812461e-05 9.99999633e-01 -1.88703951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36439141799997 meters 0.05879795668961061 Centerline is valid? [True, True] Translation: X:309.64, Y:8.62, Z:-1.89 [[ 9.99677917e-01 -2.53417681e-02 1.36253744e-03 3.09642719e+02] [ 2.53418218e-02 9.99678844e-01 -2.21561398e-05 8.62323581e+00] [-1.36153838e-03 5.66781849e-05 9.99999071e-01 -1.88677916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42439141799997 meters 0.05758773123288934 Centerline is valid? [True, True] Translation: X:309.70, Y:8.64, Z:-1.89 [[ 9.99832388e-01 -1.81887159e-02 2.08941270e-03 3.09703790e+02] [ 1.81888267e-02 9.99834569e-01 -3.40463405e-05 8.63573324e+00] [-2.08844779e-03 7.20445994e-05 9.99997817e-01 -1.88605402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters 0.057258414201808654 Centerline is valid? [True, True] Translation: X:309.76, Y:8.64, Z:-1.89 [[ 9.99978264e-01 -5.96419920e-03 2.81056337e-03 3.09763622e+02] [ 5.96435144e-03 9.99982212e-01 -4.57887602e-05 8.64149422e+00] [-2.81024028e-03 6.25509527e-05 9.99996049e-01 -1.88624482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters 0.05651236649374342 Centerline is valid? [True, True] Translation: X:309.82, Y:8.65, Z:-1.89 [[ 9.99961631e-01 7.59996527e-03 4.35629381e-03 3.09824262e+02] [-7.59972799e-03 9.99971119e-01 -7.10177778e-05 8.65200820e+00] [-4.35670773e-03 3.79084049e-05 9.99990509e-01 -1.88653864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters 0.05673318319205242 Centerline is valid? [True, True] Translation: X:309.88, Y:8.66, Z:-1.89 [[ 9.99868043e-01 1.54963215e-02 4.87456117e-03 3.09884782e+02] [-1.54961181e-02 9.99879925e-01 -7.94887066e-05 8.65754960e+00] [-4.87520764e-03 3.94144190e-06 9.99988116e-01 -1.88679870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters 0.05697624664205898 Centerline is valid? [True, True] Translation: X:309.94, Y:8.66, Z:-1.89 [[ 9.99699054e-01 2.40036124e-02 5.06250849e-03 3.09943780e+02] [-2.40035017e-02 9.99711871e-01 -8.26206275e-05 8.66265560e+00] [-5.06303303e-03 -3.89221681e-05 9.99987182e-01 -1.88769485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters 0.056273929378869464 Centerline is valid? [True, True] Translation: X:310.00, Y:8.66, Z:-1.89 [[ 9.99642030e-01 2.63347647e-02 4.72148860e-03 3.10001007e+02] [-2.63346961e-02 9.99653179e-01 -7.67068923e-05 8.65969267e+00] [-4.72187114e-03 -4.76595337e-05 9.99988851e-01 -1.88809636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters 0.057778332616859204 Centerline is valid? [True, True] Translation: X:310.06, Y:8.66, Z:-1.89 [[ 9.99699560e-01 2.40250172e-02 4.85683742e-03 3.10059419e+02] [-2.40249183e-02 9.99711357e-01 -7.87107871e-05 8.66236223e+00] [-4.85732656e-03 -3.79979831e-05 9.99988202e-01 -1.88949580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters 0.05673489672992879 Centerline is valid? [True, True] Translation: X:310.12, Y:8.66, Z:-1.89 [[ 9.99811412e-01 1.86162937e-02 5.52945858e-03 3.10118489e+02] [-1.86160836e-02 9.99826702e-01 -8.94611955e-05 8.65598547e+00] [-5.53016577e-03 -1.34925392e-05 9.99984708e-01 -1.89011147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters 0.05671033945332741 Centerline is valid? [True, True] Translation: X:310.18, Y:8.65, Z:-1.89 [[ 9.99908885e-01 1.18444643e-02 6.47531286e-03 3.10176846e+02] [-1.18440359e-02 9.99929852e-01 -1.04508494e-04 8.65021548e+00] [-6.47609647e-03 2.78051337e-05 9.99979029e-01 -1.89052099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters 0.05732847904577349 Centerline is valid? [True, True] Translation: X:310.24, Y:8.64, Z:-1.89 [[ 9.99972128e-01 3.06047382e-03 6.81007752e-03 3.10237247e+02] [-3.05979733e-03 9.99995313e-01 -1.09754307e-04 8.64128668e+00] [-6.81038150e-03 8.89137913e-05 9.99976805e-01 -1.89070956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02439141799994 meters 0.05698559071622617 Centerline is valid? [True, True] Translation: X:310.30, Y:8.63, Z:-1.89 [[ 9.99980850e-01 -1.10389291e-03 6.08943744e-03 3.10296891e+02] [ 1.10451130e-03 9.99999385e-01 -9.81890009e-05 8.63490534e+00] [-6.08932531e-03 1.04912973e-04 9.99981454e-01 -1.89210821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08439141799994 meters 0.05630139754387427 Centerline is valid? [True, True] Translation: X:310.36, Y:8.63, Z:-1.89 [[ 9.99974200e-01 -1.35577212e-03 7.05410257e-03 3.10359418e+02] [ 1.35661047e-03 9.99999073e-01 -1.14062849e-04 8.63145193e+00] [-7.05394139e-03 1.23629576e-04 9.99975113e-01 -1.89283842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14439141799994 meters 0.057404457473141164 Centerline is valid? [True, True] Translation: X:310.42, Y:8.63, Z:-1.89 [[ 9.99966859e-01 -4.45097810e-04 8.12919367e-03 3.10421359e+02] [ 4.46183968e-04 9.99999892e-01 -1.31798915e-04 8.62814644e+00] [-8.12913413e-03 1.35421663e-04 9.99966949e-01 -1.89335128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20439141799994 meters 0.05682164029498897 Centerline is valid? [True, True] Translation: X:310.48, Y:8.63, Z:-1.89 [[ 9.99969682e-01 2.62854258e-04 7.78238233e-03 3.10482618e+02] [-2.61877922e-04 9.99999958e-01 -1.26473389e-04 8.62635905e+00] [-7.78241525e-03 1.24431521e-04 9.99969709e-01 -1.89478146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26439141799995 meters 0.05706191756183621 Centerline is valid? [True, True] Translation: X:310.55, Y:8.62, Z:-1.90 [[ 9.99976705e-01 7.75310158e-04 6.78143374e-03 3.10545238e+02] [-7.74578297e-04 9.99999694e-01 -1.10546979e-04 8.62204001e+00] [-6.78151737e-03 1.05291652e-04 9.99977000e-01 -1.89631307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32439141799995 meters 0.05667052923000901 Centerline is valid? [True, True] Translation: X:310.61, Y:8.62, Z:-1.90 [[ 9.99980433e-01 -1.44672765e-03 6.08603446e-03 3.10607655e+02] [ 1.44735917e-03 9.99998948e-01 -9.93623128e-05 8.62136111e+00] [-6.08588430e-03 1.08169046e-04 9.99981475e-01 -1.89709339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38439141799995 meters 0.056975256907714274 Centerline is valid? [True, True] Translation: X:310.67, Y:8.62, Z:-1.90 [[ 9.99953225e-01 -7.93142582e-03 5.53539935e-03 3.10668630e+02] [ 7.93204935e-03 9.99968537e-01 -9.06996274e-05 8.61872492e+00] [-5.53450581e-03 1.34602446e-04 9.99984675e-01 -1.89755494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44439141799995 meters 0.05632081621073266 Centerline is valid? [True, True] Translation: X:310.73, Y:8.62, Z:-1.90 [[ 9.99897765e-01 -1.34032243e-02 4.98137572e-03 3.10728732e+02] [ 1.34037972e-02 9.99910162e-01 -8.16279630e-05 8.61658286e+00] [-4.97983413e-03 1.48388968e-04 9.99987590e-01 -1.89797881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50439141799995 meters 0.056552288403984706 Centerline is valid? [True, True] Translation: X:310.79, Y:8.62, Z:-1.90 [[ 9.99746716e-01 -2.20181874e-02 4.65873199e-03 3.10788947e+02] [ 2.20187819e-02 9.99757554e-01 -7.63581768e-05 8.61507464e+00] [-4.65592123e-03 1.78918440e-04 9.99989145e-01 -1.89797346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56439141799996 meters 0.05647793686050909 Centerline is valid? [True, True] Translation: X:310.85, Y:8.61, Z:-1.90 [[ 9.99610570e-01 -2.74272065e-02 5.14359440e-03 3.10849716e+02] [ 2.74280025e-02 9.99623778e-01 -8.42557451e-05 8.61493256e+00] [-5.13934837e-03 2.25301453e-04 9.99986768e-01 -1.89801785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62439141799996 meters 0.060426445256037374 Centerline is valid? [True, True] Translation: X:310.91, Y:8.59, Z:-1.90 [[ 9.99432545e-01 -3.34964044e-02 3.54672381e-03 3.10909165e+02] [ 3.34968212e-02 9.99438822e-01 -5.81487482e-05 8.59488920e+00] [-3.54278569e-03 1.76919724e-04 9.99993709e-01 -1.89808198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68439141799996 meters 0.05653065313697653 Centerline is valid? [True, True] Translation: X:310.97, Y:8.61, Z:-1.90 [[ 9.99237142e-01 -3.86732151e-02 5.43292505e-03 3.10969803e+02] [ 3.86742689e-02 9.99251867e-01 -8.90049380e-05 8.61168537e+00] [-5.42541840e-03 2.99051444e-04 9.99985238e-01 -1.89651044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74439141799996 meters 0.061881341960740195 Centerline is valid? [True, True] Translation: X:311.03, Y:8.59, Z:-1.90 [[ 9.99150414e-01 -4.07864412e-02 5.90903768e-03 3.11029398e+02] [ 4.07877250e-02 9.99167830e-01 -9.68717470e-05 8.59402706e+00] [-5.90016930e-03 3.37805650e-04 9.99982537e-01 -1.89515525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80439141799997 meters 0.056278225448522595 Centerline is valid? [True, True] Translation: X:311.09, Y:8.62, Z:-1.90 [[ 9.99064983e-01 -4.26729788e-02 6.94087665e-03 3.11090504e+02] [ 4.26747962e-02 9.99089009e-01 -1.13883729e-04 8.61579427e+00] [-6.92969382e-03 4.09977743e-04 9.99975905e-01 -1.89582400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86439141799997 meters 0.060103222157757284 Centerline is valid? [True, True] Translation: X:311.15, Y:8.61, Z:-1.90 [[ 9.99075368e-01 -4.27525671e-02 4.54164533e-03 3.11151972e+02] [ 4.27533458e-02 9.99085655e-01 -7.44688188e-05 8.60502417e+00] [-4.53430897e-03 2.68570496e-04 9.99989684e-01 -1.89704824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92439141799997 meters 0.0563334198872702 Centerline is valid? [True, True] Translation: X:311.21, Y:8.62, Z:-1.90 [[ 9.99120098e-01 -4.17876235e-02 3.58101798e-03 3.11213651e+02] [ 4.17881022e-02 9.99126494e-01 -5.89329990e-05 8.62128986e+00] [-3.57542727e-03 2.08525089e-04 9.99993586e-01 -1.89745263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters 0.05834299681711568 Centerline is valid? [True, True] Translation: X:311.27, Y:8.62, Z:-1.90 [[ 9.99243464e-01 -3.87469695e-02 3.34260881e-03 3.11272836e+02] [ 3.87473704e-02 9.99249037e-01 -5.52102156e-05 8.61668840e+00] [-3.33795941e-03 1.84685749e-04 9.99994412e-01 -1.89803916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters 0.057498574039876425 Centerline is valid? [True, True] Translation: X:311.33, Y:8.63, Z:-1.90 [[ 9.99535010e-01 -3.03566911e-02 2.86953718e-03 3.11332631e+02] [ 3.03569520e-02 9.99539120e-01 -4.74226634e-05 8.62972761e+00] [-2.86677507e-03 1.34511015e-04 9.99995882e-01 -1.89797577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters 0.05774754806212975 Centerline is valid? [True, True] Translation: X:311.39, Y:8.63, Z:-1.90 [[ 9.99813087e-01 -1.88703560e-02 4.20723505e-03 3.11392000e+02] [ 1.88708151e-02 9.99821928e-01 -6.94422773e-05 8.63274077e+00] [-4.20517546e-03 1.48823252e-04 9.99991147e-01 -1.89744770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters 0.0577447697355677 Centerline is valid? [True, True] Translation: X:311.45, Y:8.64, Z:-1.90 [[ 9.99937621e-01 -1.02175913e-02 4.51156477e-03 3.11452834e+02] [ 1.02180313e-02 9.99947792e-01 -7.44872223e-05 8.63942656e+00] [-4.51056815e-03 1.20581886e-04 9.99989820e-01 -1.89703925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters 0.057340466918876995 Centerline is valid? [True, True] Translation: X:311.51, Y:8.65, Z:-1.90 [[ 9.99988306e-01 1.12088019e-03 4.70440134e-03 3.11513241e+02] [-1.12052719e-03 9.99999369e-01 -7.76719837e-05 8.64945512e+00] [-4.70448544e-03 7.23996658e-05 9.99988931e-01 -1.89689288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters 0.05729050343022088 Centerline is valid? [True, True] Translation: X:311.57, Y:8.66, Z:-1.90 [[ 9.99936320e-01 9.30061069e-03 6.39178940e-03 3.11574127e+02] [-9.30012619e-03 9.99956747e-01 -1.05520065e-04 8.65837344e+00] [-6.39249434e-03 4.60688977e-05 9.99979567e-01 -1.89703217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters 0.05758989478505038 Centerline is valid? [True, True] Translation: X:311.63, Y:8.66, Z:-1.90 [[ 9.99889519e-01 1.36255567e-02 5.94086239e-03 3.11633567e+02] [-1.36252145e-02 9.99907168e-01 -9.80567000e-05 8.66401523e+00] [-5.94164696e-03 1.71003419e-05 9.99982348e-01 -1.89650554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters 0.05782681332120309 Centerline is valid? [True, True] Translation: X:311.69, Y:8.67, Z:-1.90 [[ 9.99882955e-01 1.37610890e-02 6.68649792e-03 3.11692417e+02] [-1.37606585e-02 9.99905312e-01 -1.10387720e-04 8.66534710e+00] [-6.68738384e-03 1.83641856e-05 9.99977639e-01 -1.89746919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters 0.057359710894056753 Centerline is valid? [True, True] Translation: X:311.75, Y:8.67, Z:-1.90 [[ 9.99886276e-01 1.37853761e-02 6.11535687e-03 3.11750735e+02] [-1.37850174e-02 9.99904977e-01 -1.00818804e-04 8.66623803e+00] [-6.11616560e-03 1.65070377e-05 9.99981296e-01 -1.89815168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52439141799994 meters 0.057032169437879095 Centerline is valid? [True, True] Translation: X:311.81, Y:8.67, Z:-1.90 [[ 9.99898199e-01 1.24474622e-02 6.97509383e-03 3.11809356e+02] [-1.24469642e-02 9.99922527e-01 -1.14797042e-04 8.66569948e+00] [-6.97598238e-03 2.79666118e-05 9.99975667e-01 -1.89793086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58439141799994 meters 0.05754527538782022 Centerline is valid? [True, True] Translation: X:311.87, Y:8.66, Z:-1.90 [[ 9.99925504e-01 9.95132560e-03 7.06811393e-03 3.11868341e+02] [-9.95075312e-03 9.99950483e-01 -1.16157275e-04 8.66445058e+00] [-7.06891986e-03 4.58155647e-05 9.99975014e-01 -1.89817385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64439141799994 meters 0.05648461747898314 Centerline is valid? [True, True] Translation: X:311.93, Y:8.66, Z:-1.90 [[ 9.99965685e-01 3.42452710e-03 7.54334535e-03 3.11928297e+02] [-3.42369008e-03 9.99994132e-01 -1.23871932e-04 8.65545611e+00] [-7.54372528e-03 9.80416043e-05 9.99971541e-01 -1.89875342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70439141799994 meters 0.057021923031219876 Centerline is valid? [True, True] Translation: X:311.99, Y:8.65, Z:-1.90 [[ 9.99974639e-01 6.68804782e-04 7.09042090e-03 3.11990705e+02] [-6.67995438e-04 9.99999770e-01 -1.16513715e-04 8.65151544e+00] [-7.09049720e-03 1.11774391e-04 9.99974856e-01 -1.89951145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76439141799995 meters 0.05784707173755753 Centerline is valid? [True, True] Translation: X:312.05, Y:8.64, Z:-1.90 [[ 9.99950263e-01 -7.86092289e-03 6.13818704e-03 3.12050710e+02] [ 7.86169109e-03 9.99969091e-01 -1.01031936e-04 8.64035819e+00] [-6.13720311e-03 1.49283441e-04 9.99981156e-01 -1.90028305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82439141799995 meters 0.056985663920297365 Centerline is valid? [True, True] Translation: X:312.11, Y:8.64, Z:-1.90 [[ 9.99871068e-01 -1.50102156e-02 5.70439127e-03 3.12111601e+02] [ 1.50109955e-02 9.99887324e-01 -9.39137324e-05 8.64166434e+00] [-5.70233886e-03 1.79530215e-04 9.99983725e-01 -1.90168652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88439141799995 meters 0.05724905147422804 Centerline is valid? [True, True] Translation: X:312.17, Y:8.63, Z:-1.90 [[ 9.99839108e-01 -1.73693779e-02 4.47912876e-03 3.12171227e+02] [ 1.73698824e-02 9.99849130e-01 -7.37551683e-05 8.63316960e+00] [-4.47717191e-03 1.51545242e-04 9.99989966e-01 -1.90223947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94439141799995 meters 0.05910872868504185 Centerline is valid? [True, True] Translation: X:312.23, Y:8.62, Z:-1.90 [[ 9.99831070e-01 -1.80114205e-02 3.66335959e-03 3.12231928e+02] [ 1.80117627e-02 9.99837773e-01 -6.04479029e-05 8.62404570e+00] [-3.66167655e-03 1.26421255e-04 9.99993288e-01 -1.90322488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00439141799995 meters 0.05694152423009461 Centerline is valid? [True, True] Translation: X:312.29, Y:8.63, Z:-1.90 [[ 9.99836048e-01 -1.76197189e-02 4.17393027e-03 3.12293973e+02] [ 1.76201602e-02 9.99844751e-01 -6.89730854e-05 8.63347036e+00] [-4.17206698e-03 1.42507097e-04 9.99991287e-01 -1.90374969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06439141799996 meters 0.05690941580628475 Centerline is valid? [True, True] Translation: X:312.36, Y:8.63, Z:-1.90 [[ 9.99863577e-01 -1.60034927e-02 4.08841116e-03 3.12355733e+02] [ 1.60039031e-02 9.99871927e-01 -6.76818261e-05 8.63266491e+00] [-4.08680440e-03 1.33103129e-04 9.99991640e-01 -1.90379582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12439141799996 meters 0.05705608793337717 Centerline is valid? [True, True] Translation: X:312.41, Y:8.63, Z:-1.90 [[ 9.99920964e-01 -1.17629244e-02 4.43844361e-03 3.12414963e+02] [ 1.17633673e-02 9.99930807e-01 -7.37050138e-05 8.62823177e+00] [-4.43726951e-03 1.25910231e-04 9.99990147e-01 -1.90435831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18439141799996 meters 0.05679633382599709 Centerline is valid? [True, True] Translation: X:312.48, Y:8.63, Z:-1.90 [[ 9.99967848e-01 -6.12381669e-03 5.17714783e-03 3.12475994e+02] [ 6.12434355e-03 9.99981242e-01 -8.59188204e-05 8.63385102e+00] [-5.17652457e-03 1.17622690e-04 9.99986595e-01 -1.90391494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24439141799996 meters 0.05605412530959863 Centerline is valid? [True, True] Translation: X:312.54, Y:8.64, Z:-1.90 [[ 9.99982036e-01 -2.25379170e-03 5.55403257e-03 3.12536836e+02] [ 2.25433842e-03 9.99997455e-01 -9.21775346e-05 8.64073347e+00] [-5.55381069e-03 1.04696548e-04 9.99984572e-01 -1.90426793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30439141799997 meters 0.05602159767481043 Centerline is valid? [True, True] Translation: X:312.60, Y:8.64, Z:-1.91 [[ 9.99983972e-01 3.99146752e-03 4.01544731e-03 3.12596328e+02] [-3.99123195e-03 9.99992033e-01 -6.66787008e-05 8.63987786e+00] [-4.01568146e-03 5.06510506e-05 9.99991936e-01 -1.90558166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36439141799997 meters 0.05592602383484826 Centerline is valid? [True, True] Translation: X:312.66, Y:8.64, Z:-1.91 [[ 9.99936357e-01 1.08716368e-02 3.01493678e-03 3.12656956e+02] [-1.08715352e-02 9.99940902e-01 -5.00646759e-05 8.64245259e+00] [-3.01530289e-03 1.72844982e-05 9.99995454e-01 -1.90598042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42439141799997 meters 0.056161325320929066 Centerline is valid? [True, True] Translation: X:312.71, Y:8.64, Z:-1.91 [[ 9.99856021e-01 1.66841559e-02 3.09447301e-03 3.12714933e+02] [-1.66840762e-02 9.99860810e-01 -5.15590240e-05 8.64393170e+00] [-3.09490251e-03 -7.68228824e-08 9.99995211e-01 -1.90633929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters 0.05704839703624671 Centerline is valid? [True, True] Translation: X:312.77, Y:8.64, Z:-1.91 [[ 9.99814671e-01 1.87304995e-02 4.44893218e-03 3.12773117e+02] [-1.87303565e-02 9.99824569e-01 -7.38102539e-05 8.64360431e+00] [-4.44953420e-03 -9.53351119e-06 9.99990101e-01 -1.90546508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters 0.05589634617372541 Centerline is valid? [True, True] Translation: X:312.83, Y:8.64, Z:-1.90 [[ 9.99799018e-01 1.94642440e-02 4.80288869e-03 3.12830977e+02] [-1.94640895e-02 9.99810554e-01 -7.89139860e-05 8.64184955e+00] [-4.80351480e-03 -1.45857299e-05 9.99988463e-01 -1.90461859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters 0.05705747694367936 Centerline is valid? [True, True] Translation: X:312.89, Y:8.64, Z:-1.91 [[ 9.99882731e-01 1.43033554e-02 5.47163173e-03 3.12889829e+02] [-1.43030791e-02 9.99897702e-01 -8.96273109e-05 8.63526336e+00] [-5.47235396e-03 1.13556187e-05 9.99985026e-01 -1.90621119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters 0.05648724752700683 Centerline is valid? [True, True] Translation: X:312.95, Y:8.63, Z:-1.91 [[ 9.99955729e-01 8.18150720e-03 4.64784652e-03 3.12949310e+02] [-8.18124224e-03 9.99966530e-01 -7.60170938e-05 8.62669551e+00] [-4.64831289e-03 3.79885702e-05 9.99989196e-01 -1.90727216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters 0.05704647047399521 Centerline is valid? [True, True] Translation: X:313.01, Y:8.62, Z:-1.91 [[ 9.99972431e-01 -5.97229014e-03 4.41230793e-03 3.13009812e+02] [ 5.97266646e-03 9.99982161e-01 -7.21148866e-05 8.62050057e+00] [-4.41179852e-03 9.84661420e-05 9.99990263e-01 -1.90825130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters 0.0561246324746893 Centerline is valid? [True, True] Translation: X:313.07, Y:8.61, Z:-1.91 [[ 9.99858371e-01 -1.64390845e-02 3.60481739e-03 3.13070629e+02] [ 1.64394036e-02 9.99864862e-01 -5.89233542e-05 8.61246886e+00] [-3.60336160e-03 1.18176057e-04 9.99993501e-01 -1.90836170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters 0.05923147983626486 Centerline is valid? [True, True] Translation: X:313.13, Y:8.59, Z:-1.91 [[ 9.99523030e-01 -3.07486671e-02 2.86929192e-03 3.13129793e+02] [ 3.07489282e-02 9.99527139e-01 -4.69014440e-05 8.58728446e+00] [-2.86649299e-03 1.35106725e-04 9.99995882e-01 -1.91018269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters 0.0551326212374206 Centerline is valid? [True, True] Translation: X:313.19, Y:8.61, Z:-1.91 [[ 9.99206155e-01 -3.96607059e-02 3.75347343e-03 3.13190527e+02] [ 3.96612153e-02 9.99213183e-01 -6.13510280e-05 8.60764972e+00] [-3.74808690e-03 2.10169642e-04 9.99992954e-01 -1.90967413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters 0.05498988480876714 Centerline is valid? [True, True] Translation: X:313.25, Y:8.60, Z:-1.91 [[ 9.99128954e-01 -4.14927885e-02 4.43642945e-03 3.13251462e+02] [ 4.14935182e-02 9.99138771e-01 -7.25064669e-05 8.60324348e+00] [-4.42960017e-03 2.56526376e-04 9.99990156e-01 -1.91068601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02439141799994 meters 0.05563164106691612 Centerline is valid? [True, True] Translation: X:313.31, Y:8.59, Z:-1.91 [[ 9.99213572e-01 -3.93914604e-02 4.53323067e-03 3.13311395e+02] [ 3.93922012e-02 9.99223823e-01 -7.41985119e-05 8.59453618e+00] [-4.52678930e-03 2.52714095e-04 9.99989722e-01 -1.91099153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08439141799994 meters 0.05623981282436447 Centerline is valid? [True, True] Translation: X:313.37, Y:8.60, Z:-1.91 [[ 9.99462411e-01 -3.25644417e-02 3.80074849e-03 3.13372566e+02] [ 3.25649131e-02 9.99469621e-01 -6.21768837e-05 8.59956644e+00] [-3.79670790e-03 1.85914502e-04 9.99992775e-01 -1.91130739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14439141799994 meters 0.0561955429202594 Centerline is valid? [True, True] Translation: X:313.43, Y:8.60, Z:-1.91 [[ 9.99633017e-01 -2.68155924e-02 3.84122309e-03 3.13432549e+02] [ 2.68160316e-02 9.99640384e-01 -6.28598605e-05 8.59586468e+00] [-3.83815610e-03 1.65843152e-04 9.99992620e-01 -1.91190218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20439141799994 meters 0.05573496929390942 Centerline is valid? [True, True] Translation: X:313.49, Y:8.60, Z:-1.91 [[ 9.99802971e-01 -1.90802787e-02 5.47384789e-03 3.13492874e+02] [ 1.90810547e-02 9.99817936e-01 -8.95725304e-05 8.60428452e+00] [-5.47114224e-03 1.94001673e-04 9.99985014e-01 -1.91263380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26439141799995 meters 0.05583077235491934 Centerline is valid? [True, True] Translation: X:313.55, Y:8.61, Z:-1.91 [[ 9.99881610e-01 -1.42075880e-02 5.90843946e-03 3.13553145e+02] [ 1.42084074e-02 9.99899051e-01 -9.67308243e-05 8.60871343e+00] [-5.90646870e-03 1.80668887e-04 9.99982540e-01 -1.91372338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32439141799995 meters 0.056455322475504416 Centerline is valid? [True, True] Translation: X:313.61, Y:8.61, Z:-1.92 [[ 9.99959848e-01 -7.52252199e-03 4.86976315e-03 3.13613139e+02] [ 7.52299940e-03 9.99971699e-01 -7.97250034e-05 8.60667861e+00] [-4.86902559e-03 1.16357028e-04 9.99988139e-01 -1.91566190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38439141799995 meters 0.05609103063989308 Centerline is valid? [True, True] Translation: X:313.67, Y:8.61, Z:-1.92 [[ 9.99989882e-01 -9.14198636e-04 4.40459680e-03 3.13673974e+02] [ 9.14525103e-04 9.99999579e-01 -7.21059074e-05 8.61304908e+00] [-4.40452903e-03 7.61332922e-05 9.99990297e-01 -1.91617683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44439141799995 meters 0.0556467868922795 Centerline is valid? [True, True] Translation: X:313.74, Y:8.62, Z:-1.92 [[ 9.99962780e-01 5.86132275e-03 6.33113282e-03 3.13735321e+02] [-5.86078398e-03 9.99982820e-01 -1.03648252e-04 8.62136726e+00] [-6.33163157e-03 6.65389920e-05 9.99979953e-01 -1.91509604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50439141799995 meters 0.056044746696612475 Centerline is valid? [True, True] Translation: X:313.80, Y:8.62, Z:-1.91 [[ 9.99893307e-01 1.24571385e-02 7.62858832e-03 3.13795453e+02] [-1.24565477e-02 9.99922406e-01 -1.24947734e-04 8.62444046e+00] [-7.62955288e-03 2.99085284e-05 9.99970894e-01 -1.91478814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56439141799996 meters 0.05522479835794852 Centerline is valid? [True, True] Translation: X:313.86, Y:8.63, Z:-1.92 [[ 9.99848025e-01 1.54868606e-02 8.00520157e-03 3.13855861e+02] [-1.54863072e-02 9.99880071e-01 -1.31116238e-04 8.62546445e+00] [-8.00627210e-03 7.12530026e-06 9.99967949e-01 -1.91606458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62439141799996 meters 0.05614309449401833 Centerline is valid? [True, True] Translation: X:313.91, Y:8.62, Z:-1.92 [[ 9.99834300e-01 1.62290044e-02 8.24572561e-03 3.13914223e+02] [-1.62284429e-02 9.99868301e-01 -1.35003730e-04 8.62463644e+00] [-8.24683064e-03 1.16607257e-06 9.99965994e-01 -1.91598553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68439141799996 meters 0.05572327785943735 Centerline is valid? [True, True] Translation: X:313.97, Y:8.62, Z:-1.92 [[ 9.99860953e-01 1.44953530e-02 8.24373845e-03 3.13973089e+02] [-1.44947345e-02 9.99894937e-01 -1.34775649e-04 8.62067155e+00] [-8.24482596e-03 1.52661085e-05 9.99966011e-01 -1.91772689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74439141799996 meters 0.05536870962674084 Centerline is valid? [True, True] Translation: X:314.03, Y:8.61, Z:-1.92 [[ 9.99910761e-01 1.09720170e-02 7.62141002e-03 3.14032087e+02] [-1.09713872e-02 9.99939805e-01 -1.24450096e-04 8.61436345e+00] [-7.62231671e-03 4.08215500e-05 9.99970949e-01 -1.91845399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80439141799997 meters 0.05497978916028145 Centerline is valid? [True, True] Translation: X:314.09, Y:8.61, Z:-1.92 [[ 9.99960889e-01 4.40384762e-03 7.66989002e-03 3.14092500e+02] [-4.40301689e-03 9.99990299e-01 -1.25191669e-04 8.60919987e+00] [-7.67036694e-03 9.14161171e-05 9.99970578e-01 -1.91932773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86439141799997 meters 0.054935570238050214 Centerline is valid? [True, True] Translation: X:314.15, Y:8.60, Z:-1.92 [[ 9.99970373e-01 -1.46177698e-03 7.55750704e-03 3.14153594e+02] [ 1.46275112e-03 9.99998923e-01 -1.23370509e-04 8.60264928e+00] [-7.55731856e-03 1.34421606e-04 9.99971434e-01 -1.92060642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92439141799997 meters 0.055747935075381595 Centerline is valid? [True, True] Translation: X:314.21, Y:8.59, Z:-1.92 [[ 9.99947391e-01 -6.44712035e-03 7.97803355e-03 3.14213850e+02] [ 6.44836521e-03 9.99979201e-01 -1.30323169e-04 8.59243894e+00] [-7.97702740e-03 1.81761587e-04 9.99968166e-01 -1.92119448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters 0.05605790663423889 Centerline is valid? [True, True] Translation: X:314.27, Y:8.59, Z:-1.92 [[ 9.99921073e-01 -9.71937755e-03 7.96122121e-03 3.14274158e+02] [ 9.72072176e-03 9.99952744e-01 -1.30166532e-04 8.58760290e+00] [-7.95957986e-03 2.07545075e-04 9.99968301e-01 -1.92164957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters 0.05561696298845664 Centerline is valid? [True, True] Translation: X:314.34, Y:8.58, Z:-1.92 [[ 9.99851864e-01 -1.53709389e-02 7.74498956e-03 3.14335504e+02] [ 1.53723811e-02 9.99881830e-01 -1.26712783e-04 8.58458104e+00] [-7.74212664e-03 2.45752944e-04 9.99969999e-01 -1.92229564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters 0.057974823476594106 Centerline is valid? [True, True] Translation: X:314.40, Y:8.57, Z:-1.92 [[ 9.99748320e-01 -2.14123349e-02 6.69391084e-03 3.14395324e+02] [ 2.14135482e-02 9.99770698e-01 -1.09623797e-04 8.57197196e+00] [-6.69002861e-03 2.52936589e-04 9.99977590e-01 -1.92313995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters 0.0550217196008068 Centerline is valid? [True, True] Translation: X:314.46, Y:8.58, Z:-1.92 [[ 9.99627354e-01 -2.65194997e-02 6.47071241e-03 3.14456281e+02] [ 2.65207404e-02 9.99648258e-01 -1.05995727e-04 8.58052911e+00] [-6.46562543e-03 2.77564312e-04 9.99979059e-01 -1.92388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters 0.055225024338987364 Centerline is valid? [True, True] Translation: X:314.52, Y:8.58, Z:-1.93 [[ 9.99416847e-01 -3.37815208e-02 4.97751157e-03 3.14515371e+02] [ 3.37823449e-02 9.99429210e-01 -8.15609224e-05 8.57781306e+00] [-4.97191521e-03 2.49665373e-04 9.99987609e-01 -1.92513795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters 0.05610517815906549 Centerline is valid? [True, True] Translation: X:314.58, Y:8.57, Z:-1.93 [[ 9.99277296e-01 -3.77443038e-02 4.50040172e-03 3.14575532e+02] [ 3.77450178e-02 9.99287400e-01 -7.38005901e-05 8.57351331e+00] [-4.49440919e-03 2.43614997e-04 9.99989870e-01 -1.92649658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters 0.05470919775093055 Centerline is valid? [True, True] Translation: X:314.64, Y:8.58, Z:-1.93 [[ 9.99088630e-01 -4.25280504e-02 3.64341794e-03 3.14636145e+02] [ 4.25285502e-02 9.99095250e-01 -5.97839170e-05 8.58072353e+00] [-3.63757907e-03 2.14678715e-04 9.99993361e-01 -1.92728378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters 0.05430812855371882 Centerline is valid? [True, True] Translation: X:314.70, Y:8.59, Z:-1.93 [[ 9.98968117e-01 -4.52551385e-02 3.83062352e-03 3.14696797e+02] [ 4.52557109e-02 9.98975433e-01 -6.28421327e-05 8.58894346e+00] [-3.82385486e-03 2.36134878e-04 9.99992661e-01 -1.92697337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters 0.053066255342622305 Centerline is valid? [True, True] Translation: X:314.76, Y:8.60, Z:-1.93 [[ 9.98793384e-01 -4.89070435e-02 4.45841592e-03 3.14757308e+02] [ 4.89078555e-02 9.98803292e-01 -7.32195483e-05 8.59957088e+00] [-4.44949954e-03 2.91182762e-04 9.99990059e-01 -1.92653936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52439141799994 meters 0.054025888520569804 Centerline is valid? [True, True] Translation: X:314.82, Y:8.59, Z:-1.93 [[ 9.98633014e-01 -5.20981685e-02 4.22896844e-03 3.14817171e+02] [ 5.20989275e-02 9.98641926e-01 -6.94461260e-05 8.59111607e+00] [-4.21960717e-03 2.89675914e-04 9.99991055e-01 -1.92712807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58439141799994 meters 0.05471410184862311 Centerline is valid? [True, True] Translation: X:314.88, Y:8.59, Z:-1.93 [[ 9.98564697e-01 -5.34121098e-02 3.96138948e-03 3.14878420e+02] [ 5.34127862e-02 9.98572516e-01 -6.50629453e-05 8.59014316e+00] [-3.95225951e-03 2.76558409e-04 9.99992152e-01 -1.92731509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64439141799994 meters 0.05539925756426722 Centerline is valid? [True, True] Translation: X:314.94, Y:8.59, Z:-1.93 [[ 9.98635138e-01 -5.20000525e-02 4.88433200e-03 3.14939307e+02] [ 5.20010644e-02 9.98647026e-01 -8.03280556e-05 8.58969515e+00] [-4.87354656e-03 3.34208882e-04 9.99988068e-01 -1.92739187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70439141799994 meters 0.05373085545354355 Centerline is valid? [True, True] Translation: X:315.00, Y:8.60, Z:-1.93 [[ 9.98901578e-01 -4.63635008e-02 6.78695321e-03 3.15000459e+02] [ 4.63653256e-02 9.98924544e-01 -1.11692632e-04 8.60329188e+00] [-6.77447568e-03 4.26249242e-04 9.99976962e-01 -1.92739625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76439141799995 meters 0.055914348304731215 Centerline is valid? [True, True] Translation: X:315.06, Y:8.60, Z:-1.93 [[ 9.99189800e-01 -3.98345175e-02 5.74054751e-03 3.15060257e+02] [ 3.98357159e-02 9.99206238e-01 -9.45302794e-05 8.59958665e+00] [-5.73222531e-03 3.23132511e-04 9.99983518e-01 -1.92690734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82439141799995 meters 0.05590224569174588 Centerline is valid? [True, True] Translation: X:315.12, Y:8.61, Z:-1.93 [[ 9.99555181e-01 -2.94557867e-02 4.66876947e-03 3.15120800e+02] [ 2.94564664e-02 9.99566061e-01 -7.68748475e-05 8.60535929e+00] [-4.66447910e-03 2.14366103e-04 9.99989098e-01 -1.92741765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88439141799995 meters 0.05425909894675541 Centerline is valid? [True, True] Translation: X:315.18, Y:8.62, Z:-1.93 [[ 9.99829286e-01 -1.80617534e-02 3.89521162e-03 3.15182060e+02] [ 1.80621402e-02 9.99836864e-01 -6.41550850e-05 8.61700741e+00] [-3.89341742e-03 1.34499991e-04 9.99992412e-01 -1.92816472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94439141799995 meters 0.054924038968031705 Centerline is valid? [True, True] Translation: X:315.24, Y:8.62, Z:-1.93 [[ 9.99926096e-01 -1.14394633e-02 4.11586356e-03 3.15242696e+02] [ 1.14398392e-02 9.99934561e-01 -6.77885402e-05 8.62171189e+00] [-4.11481876e-03 1.14868348e-04 9.99991527e-01 -1.92829848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00439141799995 meters 0.05459357582481156 Centerline is valid? [True, True] Translation: X:315.30, Y:8.63, Z:-1.93 [[ 9.99984614e-01 -3.25938683e-03 4.48862057e-03 3.15303778e+02] [ 3.25975149e-03 9.99994684e-01 -7.39276165e-05 8.62830896e+00] [-4.48835575e-03 8.85582667e-05 9.99989923e-01 -1.92779402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06439141799996 meters 0.05495146405091828 Centerline is valid? [True, True] Translation: X:315.36, Y:8.63, Z:-1.93 [[ 9.99979651e-01 4.49469101e-03 4.52719885e-03 3.15362889e+02] [-4.49439955e-03 9.99989897e-01 -7.45532321e-05 8.62725796e+00] [-4.52748820e-03 5.42046746e-05 9.99989749e-01 -1.92842945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12439141799996 meters 0.0551267391886293 Centerline is valid? [True, True] Translation: X:315.42, Y:8.63, Z:-1.93 [[ 9.99940092e-01 1.00501181e-02 4.33678102e-03 3.15423256e+02] [-1.00499031e-02 9.99949496e-01 -7.13807950e-05 8.63238474e+00] [-4.33727938e-03 2.77922898e-05 9.99990594e-01 -1.92814934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18439141799996 meters 0.05500579246343427 Centerline is valid? [True, True] Translation: X:315.48, Y:8.64, Z:-1.93 [[ 9.99838988e-01 1.71949886e-02 5.13132668e-03 3.15481731e+02] [-1.71947811e-02 9.99852155e-01 -8.45675847e-05 8.63571656e+00] [-5.13202218e-03 -3.67807050e-06 9.99986831e-01 -1.92777428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24439141799996 meters 0.054498930269174246 Centerline is valid? [True, True] Translation: X:315.54, Y:8.64, Z:-1.93 [[ 9.99793298e-01 1.96485570e-02 5.22455329e-03 3.15539229e+02] [-1.96483790e-02 9.99806948e-01 -8.54003949e-05 8.63505858e+00] [-5.22522268e-03 -1.72712608e-05 9.99986348e-01 -1.92786730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30439141799997 meters 0.05482844213604104 Centerline is valid? [True, True] Translation: X:315.60, Y:8.63, Z:-1.93 [[ 9.99848993e-01 1.67749694e-02 4.53775254e-03 3.15598346e+02] [-1.67748064e-02 9.99859290e-01 -7.39895322e-05 8.63164878e+00] [-4.53835520e-03 -2.14156096e-06 9.99989702e-01 -1.92957144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36439141799997 meters 0.054898606560442584 Centerline is valid? [True, True] Translation: X:315.66, Y:8.62, Z:-1.93 [[ 9.99974759e-01 6.01590325e-03 3.78032541e-03 3.15656528e+02] [-6.01571354e-03 9.99981904e-01 -6.15517540e-05 8.62233580e+00] [-3.78062729e-03 3.88088456e-05 9.99992853e-01 -1.93111909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42439141799997 meters 0.0541436785056218 Centerline is valid? [True, True] Translation: X:315.72, Y:8.61, Z:-1.93 [[ 9.99949882e-01 -8.90619096e-03 4.57308758e-03 3.15716503e+02] [ 8.90662397e-03 9.99960332e-01 -7.43285522e-05 8.61250219e+00] [-4.57224419e-03 1.15055598e-04 9.99989541e-01 -1.93127488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters 0.05448542997621485 Centerline is valid? [True, True] Translation: X:315.78, Y:8.60, Z:-1.93 [[ 9.99834900e-01 -1.71101384e-02 6.11680728e-03 3.15775844e+02] [ 1.71110668e-02 9.99853590e-01 -9.94721137e-05 8.60381858e+00] [-6.11420974e-03 2.04120789e-04 9.99981287e-01 -1.93104614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters 0.054106402653913914 Centerline is valid? [True, True] Translation: X:315.84, Y:8.60, Z:-1.93 [[ 9.99712125e-01 -2.27714242e-02 7.55837713e-03 3.15836492e+02] [ 2.27730039e-02 9.99740654e-01 -1.22997284e-04 8.60245131e+00] [-7.55361607e-03 2.95088828e-04 9.99971427e-01 -1.93136938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters 0.05382810285786662 Centerline is valid? [True, True] Translation: X:315.90, Y:8.60, Z:-1.93 [[ 9.99633394e-01 -2.59520584e-02 7.71810084e-03 3.15897256e+02] [ 2.59538002e-02 9.99663136e-01 -1.25599093e-04 8.60109179e+00] [-7.71224133e-03 3.25867095e-04 9.99970207e-01 -1.93150787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters 0.05519229894357827 Centerline is valid? [True, True] Translation: X:315.96, Y:8.59, Z:-1.93 [[ 9.99615953e-01 -2.70065535e-02 6.21225528e-03 3.15958587e+02] [ 2.70077025e-02 9.99635220e-01 -1.01121125e-04 8.58753302e+00] [-6.20725824e-03 2.68861032e-04 9.99980699e-01 -1.93265989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters 0.054740418207136474 Centerline is valid? [True, True] Translation: X:316.02, Y:8.59, Z:-1.93 [[ 9.99639031e-01 -2.64206280e-02 4.87426235e-03 3.16020531e+02] [ 2.64213306e-02 9.99650893e-01 -7.97862266e-05 8.59085938e+00] [-4.87045270e-03 2.08541923e-04 9.99988118e-01 -1.93391047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters 0.05477975141021279 Centerline is valid? [True, True] Translation: X:316.08, Y:8.59, Z:-1.94 [[ 9.99702139e-01 -2.43545293e-02 1.57805508e-03 3.16081717e+02] [ 2.43546005e-02 9.99703382e-01 -2.58923162e-05 8.59254903e+00] [-1.57695640e-03 6.43175048e-05 9.99998755e-01 -1.93544457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters 0.05425316921265165 Centerline is valid? [True, True] Translation: X:316.14, Y:8.60, Z:-1.94 [[ 9.99719924e-01 -2.36130668e-02 -1.57998003e-03 3.16143757e+02] [ 2.36131376e-02 9.99721171e-01 2.61948819e-05 8.59571312e+00] [ 1.57892094e-03 -6.34958312e-05 9.99998751e-01 -1.93585392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters 0.05520819360492723 Centerline is valid? [True, True] Translation: X:316.20, Y:8.59, Z:-1.94 [[ 9.99714745e-01 -2.37822501e-02 -2.19864013e-03 3.16204829e+02] [ 2.37823875e-02 9.99717158e-01 3.63755207e-05 8.58833995e+00] [ 2.19715317e-03 -8.86540561e-05 9.99997582e-01 -1.93755227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters 0.05773045061367111 Centerline is valid? [True, True] Translation: X:316.27, Y:8.58, Z:-1.94 [[ 9.99723578e-01 -2.34992039e-02 -7.44762182e-04 3.16266144e+02] [ 2.34992196e-02 9.99723855e-01 1.24284666e-05 8.58079462e+00] [ 7.44264461e-04 -2.99263612e-05 9.99999723e-01 -1.93812766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02439141799994 meters 0.05419877415534416 Centerline is valid? [True, True] Translation: X:316.33, Y:8.60, Z:-1.93 [[ 9.99749445e-01 -2.23117526e-02 1.79829418e-03 3.16328470e+02] [ 2.23118417e-02 9.99751059e-01 -2.95382671e-05 8.60174386e+00] [-1.79718747e-03 6.96541213e-05 9.99998383e-01 -1.93345004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08439141799994 meters 0.05442117080820572 Centerline is valid? [True, True] Translation: X:316.39, Y:8.60, Z:-1.93 [[ 9.99749889e-01 -2.20895439e-02 3.49456434e-03 3.16389606e+02] [ 2.20898804e-02 9.99755987e-01 -5.77168236e-05 8.60161514e+00] [-3.49243668e-03 1.34896896e-04 9.99993892e-01 -1.93311767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14439141799994 meters 0.05529262910914219 Centerline is valid? [True, True] Translation: X:316.45, Y:8.60, Z:-1.93 [[ 9.99733098e-01 -2.27887590e-02 3.79544768e-03 3.16450756e+02] [ 2.27891613e-02 9.99740291e-01 -6.27912418e-05 8.59659796e+00] [-3.79303103e-03 1.49269552e-04 9.99992795e-01 -1.93195100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20439141799994 meters 0.05406103534766601 Centerline is valid? [True, True] Translation: X:316.51, Y:8.61, Z:-1.93 [[ 9.99722592e-01 -2.33328187e-02 3.21234836e-03 3.16512685e+02] [ 2.33331092e-02 9.99727745e-01 -5.29730499e-05 8.60608007e+00] [-3.21023777e-03 1.27912430e-04 9.99994839e-01 -1.93194779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26439141799995 meters 0.05513813303168218 Centerline is valid? [True, True] Translation: X:316.57, Y:8.60, Z:-1.93 [[ 9.99772563e-01 -2.11761986e-02 2.52783879e-03 3.16572071e+02] [ 2.11763729e-02 9.99775755e-01 -4.22091229e-05 8.59911720e+00] [-2.52637811e-03 9.57299798e-05 9.99996804e-01 -1.93318315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32439141799995 meters 0.05461674943303957 Centerline is valid? [True, True] Translation: X:316.63, Y:8.61, Z:-1.93 [[ 9.99916985e-01 -1.26290666e-02 2.55532563e-03 3.16632881e+02] [ 1.26292167e-02 9.99920247e-01 -4.26092417e-05 8.61035091e+00] [-2.55458372e-03 7.48774656e-05 9.99996734e-01 -1.93285524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38439141799995 meters 0.054701875333684084 Centerline is valid? [True, True] Translation: X:316.69, Y:8.62, Z:-1.93 [[ 9.99995214e-01 1.40530829e-03 2.75645659e-03 3.16692873e+02] [-1.40518693e-03 9.99999012e-01 -4.59645468e-05 8.61521070e+00] [-2.75651846e-03 4.20909900e-05 9.99996200e-01 -1.93324599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44439141799995 meters 0.05508211208741109 Centerline is valid? [True, True] Translation: X:316.75, Y:8.62, Z:-1.93 [[ 9.99932890e-01 1.12047297e-02 2.94448629e-03 3.16753056e+02] [-1.12046335e-02 9.99937225e-01 -4.91534941e-05 8.62269961e+00] [-2.94485220e-03 1.61583057e-05 9.99995664e-01 -1.93257974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50439141799995 meters 0.05534820920495692 Centerline is valid? [True, True] Translation: X:316.81, Y:8.63, Z:-1.93 [[ 9.99718147e-01 2.36438207e-02 2.14376597e-03 3.16811306e+02] [-2.36437979e-02 9.99720446e-01 -3.60009816e-05 8.62883605e+00] [-2.14401788e-03 -1.46959348e-05 9.99997701e-01 -1.93280465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56439141799996 meters 0.05565926681001748 Centerline is valid? [True, True] Translation: X:316.87, Y:8.63, Z:-1.93 [[ 9.99536096e-01 3.03894807e-02 2.01802573e-03 3.16870513e+02] [-3.03894748e-02 9.99538133e-01 -3.36023070e-05 8.63385464e+00] [-2.01811483e-03 -2.77400234e-05 9.99997963e-01 -1.93376184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62439141799996 meters 0.055933345260402514 Centerline is valid? [True, True] Translation: X:316.93, Y:8.63, Z:-1.93 [[ 9.99525015e-01 3.07904076e-02 1.30177312e-03 3.16927905e+02] [-3.07904051e-02 9.99525863e-01 -2.18980388e-05 8.63446327e+00] [-1.30183015e-03 -1.81944842e-05 9.99999152e-01 -1.93441851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68439141799996 meters 0.05517549337304774 Centerline is valid? [True, True] Translation: X:316.99, Y:8.63, Z:-1.93 [[ 9.99671494e-01 2.55912080e-02 1.41184041e-03 3.16987624e+02] [-2.55912004e-02 9.99672491e-01 -2.34280867e-05 8.62951353e+00] [-1.41197757e-03 -1.27103003e-05 9.99999003e-01 -1.93475258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74439141799996 meters 0.05605050737240203 Centerline is valid? [True, True] Translation: X:317.05, Y:8.62, Z:-1.93 [[ 9.99891422e-01 1.46648334e-02 1.44480203e-03 3.17045252e+02] [-1.46648140e-02 9.99892466e-01 -2.40592616e-05 8.62159326e+00] [-1.44499949e-03 2.86889634e-06 9.99998956e-01 -1.93247835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80439141799997 meters 0.054751794095812836 Centerline is valid? [True, True] Translation: X:317.10, Y:8.61, Z:-1.94 [[ 9.99979744e-01 6.01004029e-03 2.09546919e-03 3.17104403e+02] [-6.00998097e-03 9.99981939e-01 -3.46032201e-05 8.61264650e+00] [-2.09563931e-03 2.20087892e-05 9.99997804e-01 -1.93515796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86439141799997 meters 0.05464408642170409 Centerline is valid? [True, True] Translation: X:317.16, Y:8.60, Z:-1.93 [[ 9.99971758e-01 -6.92981347e-03 2.90876242e-03 3.17164847e+02] [ 6.92998208e-03 9.99975986e-01 -4.78919623e-05 8.60227487e+00] [-2.90836069e-03 6.80482812e-05 9.99995768e-01 -1.93462305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92439141799997 meters 0.05407606333302096 Centerline is valid? [True, True] Translation: X:317.23, Y:8.60, Z:-1.93 [[ 9.99823514e-01 -1.84482791e-02 3.54989222e-03 3.17225652e+02] [ 1.84486028e-02 9.99829808e-01 -5.84592034e-05 8.60023135e+00] [-3.54820959e-03 1.23939438e-04 9.99993697e-01 -1.93444847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters 0.053962425367588295 Centerline is valid? [True, True] Translation: X:317.29, Y:8.60, Z:-1.93 [[ 9.99690164e-01 -2.47018774e-02 3.06497021e-03 3.17286156e+02] [ 2.47021481e-02 9.99694854e-01 -5.04967329e-05 8.59710145e+00] [-3.06278758e-03 1.26192435e-04 9.99995302e-01 -1.93484830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters 0.05292092007870816 Centerline is valid? [True, True] Translation: X:317.35, Y:8.60, Z:-1.94 [[ 9.99509119e-01 -3.11560900e-02 3.28922614e-03 3.17346424e+02] [ 3.11564367e-02 9.99514519e-01 -5.41953280e-05 8.59645696e+00] [-3.28594077e-03 1.56649290e-04 9.99994589e-01 -1.93548735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters 0.05469521356779402 Centerline is valid? [True, True] Translation: X:317.41, Y:8.58, Z:-1.94 [[ 9.99455391e-01 -3.27716890e-02 3.86496668e-03 3.17406046e+02] [ 3.27721797e-02 9.99462846e-01 -6.36938214e-05 8.58382091e+00] [-3.86080325e-03 1.90322516e-04 9.99992529e-01 -1.93612129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters 0.054498120315816245 Centerline is valid? [True, True] Translation: X:317.47, Y:8.58, Z:-1.94 [[ 9.99481833e-01 -3.18306302e-02 4.78287396e-03 3.17467515e+02] [ 3.18313709e-02 9.99493250e-01 -7.88020008e-05 8.58456034e+00] [-4.77794192e-03 2.31006603e-04 9.99988559e-01 -1.93634173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters 0.053314367358325274 Centerline is valid? [True, True] Translation: X:317.53, Y:8.59, Z:-1.94 [[ 9.99597807e-01 -2.81107573e-02 3.74284216e-03 3.17527998e+02] [ 2.81111852e-02 9.99604801e-01 -6.17393288e-05 8.59493373e+00] [-3.73962745e-03 1.66930227e-04 9.99992994e-01 -1.93752215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters 0.055921195963788736 Centerline is valid? [True, True] Translation: X:317.59, Y:8.58, Z:-1.94 [[ 9.99701786e-01 -2.41950427e-02 3.30737835e-03 3.17587214e+02] [ 2.41953553e-02 9.99707248e-01 -5.45442222e-05 8.58298814e+00] [-3.30509041e-03 1.34551151e-04 9.99994529e-01 -1.93974249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters 0.05404595777443104 Centerline is valid? [True, True] Translation: X:317.65, Y:8.60, Z:-1.94 [[ 9.99854974e-01 -1.64561470e-02 4.38467568e-03 3.17648357e+02] [ 1.64566223e-02 9.99864578e-01 -7.23325435e-05 8.59921654e+00] [-4.38289159e-03 1.44479005e-04 9.99990385e-01 -1.93882090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters 0.053849683135310494 Centerline is valid? [True, True] Translation: X:317.71, Y:8.60, Z:-1.94 [[ 9.99957483e-01 -5.78104940e-03 7.18406941e-03 3.17707729e+02] [ 5.78205018e-03 9.99983277e-01 -1.18543217e-04 8.60360986e+00] [-7.18326396e-03 1.60076827e-04 9.99974187e-01 -1.93685323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters 0.055563006065662744 Centerline is valid? [True, True] Translation: X:317.77, Y:8.60, Z:-1.94 [[ 9.99965491e-01 -1.65052723e-03 8.14208757e-03 3.17767768e+02] [ 1.65167581e-03 9.99998627e-01 -1.34344962e-04 8.60186468e+00] [-8.14185465e-03 1.47788415e-04 9.99966844e-01 -1.93559636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52439141799994 meters 0.05336547391806861 Centerline is valid? [True, True] Translation: X:317.83, Y:8.61, Z:-1.94 [[ 9.99924326e-01 6.84475505e-03 1.02220949e-02 3.17828327e+02] [-6.84338794e-03 9.99976570e-01 -1.68712648e-04 8.61414712e+00] [-1.02230102e-02 9.87461204e-05 9.99947739e-01 -1.93553017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58439141799994 meters 0.053719303997149755 Centerline is valid? [True, True] Translation: X:317.89, Y:8.62, Z:-1.93 [[ 9.99756978e-01 1.76769710e-02 1.31722697e-02 3.17889429e+02] [-1.76756418e-02 9.99843750e-01 -2.17333053e-04 8.62297127e+00] [-1.31740534e-02 -1.55480849e-05 9.99913218e-01 -1.93317419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64439141799994 meters 0.05443159278260305 Centerline is valid? [True, True] Translation: X:317.95, Y:8.63, Z:-1.93 [[ 9.99621053e-01 2.31040265e-02 1.49651320e-02 3.17949357e+02] [-2.31029218e-02 9.99733061e-01 -2.46716598e-04 8.62720760e+00] [-1.49668374e-02 -9.91151695e-05 9.99887986e-01 -1.93220375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70439141799994 meters 0.0550363024291751 Centerline is valid? [True, True] Translation: X:318.01, Y:8.63, Z:-1.93 [[ 9.99641860e-01 2.24127626e-02 1.46225923e-02 3.18008515e+02] [-2.24116374e-02 9.99748799e-01 -2.40837679e-04 8.62622306e+00] [-1.46243170e-02 -8.69648109e-05 9.99893055e-01 -1.93275656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76439141799995 meters 0.05443503310425614 Centerline is valid? [True, True] Translation: X:318.07, Y:8.62, Z:-1.93 [[ 9.99714957e-01 1.91397914e-02 1.42714119e-02 3.18067712e+02] [-1.91383898e-02 9.99816817e-01 -2.34786477e-04 8.62230730e+00] [-1.42732914e-02 -3.84122910e-05 9.99898131e-01 -1.93421874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82439141799995 meters 0.05448858140190434 Centerline is valid? [True, True] Translation: X:318.13, Y:8.62, Z:-1.94 [[ 9.99792877e-01 1.33745812e-02 1.53402327e-02 3.18128134e+02] [-1.33722848e-02 9.99910555e-01 -2.52268711e-04 8.61530648e+00] [-1.53422345e-02 4.70825012e-05 9.99882300e-01 -1.93507534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88439141799995 meters 0.05356404122722227 Centerline is valid? [True, True] Translation: X:318.19, Y:8.61, Z:-1.94 [[ 9.99839589e-01 8.73079143e-03 1.56387473e-02 3.18190428e+02] [-8.72781952e-03 9.99961879e-01 -2.58276392e-04 8.60950032e+00] [-1.56404061e-02 1.21742798e-04 9.99877674e-01 -1.93854905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94439141799995 meters 0.05416120514947494 Centerline is valid? [True, True] Translation: X:318.25, Y:8.60, Z:-1.94 [[ 9.99871768e-01 6.43958828e-03 1.46621820e-02 3.18251837e+02] [-6.43670687e-03 9.99979255e-01 -2.43702704e-04 8.60261189e+00] [-1.46634472e-02 1.49295286e-04 9.99892475e-01 -1.93797964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00439141799995 meters 0.05457550416060231 Centerline is valid? [True, True] Translation: X:318.31, Y:8.60, Z:-1.94 [[ 9.99908489e-01 3.06793750e-03 1.31757538e-02 3.18313620e+02] [-3.06530011e-03 9.99995278e-01 -2.20359898e-04 8.59662648e+00] [-1.31763676e-02 1.79952094e-04 9.99913172e-01 -1.94166774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06439141799996 meters 0.05411373396552002 Centerline is valid? [True, True] Translation: X:318.38, Y:8.59, Z:-1.95 [[ 9.99928689e-01 -5.64906206e-04 1.19288915e-02 3.18375459e+02] [ 5.67336050e-04 9.99999819e-01 -2.00311070e-04 8.59335380e+00] [-1.19287761e-02 2.07064476e-04 9.99928828e-01 -1.94630447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12439141799996 meters 0.05323400679036078 Centerline is valid? [True, True] Translation: X:318.44, Y:8.59, Z:-1.95 [[ 9.99943650e-01 -2.09999060e-03 1.04060834e-02 3.18436967e+02] [ 2.10192954e-03 9.99997776e-01 -1.75394349e-04 8.58519726e+00] [-1.04056920e-02 1.97257320e-04 9.99945840e-01 -1.94713277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18439141799996 meters 0.05373699097795813 Centerline is valid? [True, True] Translation: X:318.50, Y:8.57, Z:-1.95 [[ 9.99961559e-01 -4.26744413e-03 7.65958989e-03 3.18497979e+02] [ 4.26856316e-03 9.99990881e-01 -1.29753262e-04 8.57423019e+00] [-7.65896633e-03 1.62443717e-04 9.99970656e-01 -1.95015410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24439141799996 meters 0.054063591432684036 Centerline is valid? [True, True] Translation: X:318.56, Y:8.57, Z:-1.95 [[ 9.99968934e-01 -6.54306606e-03 4.39541192e-03 3.18559297e+02] [ 6.54345798e-03 9.99978589e-01 -7.47910284e-05 8.56536398e+00] [-4.39482844e-03 1.03549898e-04 9.99990337e-01 -1.95488283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30439141799997 meters 0.05354301843791456 Centerline is valid? [True, True] Translation: X:318.62, Y:8.56, Z:-1.96 [[ 9.99963006e-01 -8.26339640e-03 2.38810497e-03 3.18620991e+02] [ 8.26351683e-03 9.99965856e-01 -4.05685353e-05 8.56283651e+00] [-2.38768820e-03 6.03011801e-05 9.99997148e-01 -1.95740869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36439141799997 meters 0.0548881044910743 Centerline is valid? [True, True] Translation: X:318.68, Y:8.55, Z:-1.96 [[ 9.99957601e-01 -8.80298254e-03 -2.70251474e-03 3.18681606e+02] [ 8.80314011e-03 9.99961251e-01 4.64135523e-05 8.54739755e+00] [ 2.70200144e-03 -7.02022003e-05 9.99996347e-01 -1.96312299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42439141799997 meters 0.05482278491800386 Centerline is valid? [True, True] Translation: X:318.74, Y:8.54, Z:-1.97 [[ 9.99953473e-01 -7.01187721e-03 -6.62464657e-03 3.18743026e+02] [ 7.01278350e-03 9.99975404e-01 1.13586563e-04 8.54089566e+00] [ 6.62368717e-03 -1.60038490e-04 9.99978050e-01 -1.96732556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters 0.05443591288506829 Centerline is valid? [True, True] Translation: X:318.80, Y:8.54, Z:-1.97 [[ 9.99960304e-01 -4.99768691e-03 -7.37651122e-03 3.18802421e+02] [ 4.99874920e-03 9.99987498e-01 1.25579852e-04 8.54139958e+00] [ 7.37579139e-03 -1.62448196e-04 9.99972785e-01 -1.96670238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters 0.05433343814408638 Centerline is valid? [True, True] Translation: X:318.86, Y:8.54, Z:-1.97 [[ 9.99968274e-01 1.69284227e-03 -7.78365359e-03 3.18862828e+02] [-1.69185864e-03 9.99998560e-01 1.32954947e-04 8.53856505e+00] [ 7.78386745e-03 -1.19781887e-04 9.99969698e-01 -1.96768726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters 0.05439446543038638 Centerline is valid? [True, True] Translation: X:318.92, Y:8.54, Z:-1.97 [[ 9.99923815e-01 9.84045338e-03 -7.45187067e-03 3.18921424e+02] [-9.83977992e-03 9.99951580e-01 1.27032978e-04 8.53633398e+00] [ 7.45275991e-03 -5.36985330e-05 9.99972226e-01 -1.96994501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters 0.054304450068690766 Centerline is valid? [True, True] Translation: X:318.98, Y:8.54, Z:-1.97 [[ 9.99893780e-01 1.32335971e-02 -6.10739403e-03 3.18980402e+02] [-1.32332099e-02 9.99912432e-01 1.03805647e-04 8.53641111e+00] [ 6.10823294e-03 -2.29741933e-05 9.99981344e-01 -1.96685590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters 0.054850499138445634 Centerline is valid? [True, True] Translation: X:319.04, Y:8.53, Z:-1.96 [[ 9.99864442e-01 1.57305253e-02 -4.86302111e-03 3.19039364e+02] [-1.57303143e-02 9.99876268e-01 8.16356715e-05 8.53288555e+00] [ 4.86370357e-03 -5.12775448e-06 9.99988172e-01 -1.96469555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters 0.05508864881644909 Centerline is valid? [True, True] Translation: X:319.10, Y:8.53, Z:-1.97 [[ 9.99851600e-01 1.64583287e-02 -5.08943523e-03 3.19097290e+02] [-1.64581059e-02 9.99864553e-01 8.56549174e-05 8.52944385e+00] [ 5.09015561e-03 -1.87974212e-06 9.99987045e-01 -1.96530133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters 0.05547650205684861 Centerline is valid? [True, True] Translation: X:319.15, Y:8.52, Z:-1.97 [[ 9.99853937e-01 1.63136185e-02 -5.09605755e-03 3.19154931e+02] [-1.63133948e-02 9.99866924e-01 8.54663386e-05 8.52403866e+00] [ 5.09677366e-03 -2.31985641e-06 9.99987011e-01 -1.96522933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters 0.05578895131101737 Centerline is valid? [True, True] Translation: X:319.21, Y:8.52, Z:-1.96 [[ 9.99877542e-01 1.48265150e-02 -5.00750871e-03 3.19212595e+02] [-1.48262816e-02 9.99890081e-01 8.37251647e-05 8.51799762e+00] [ 5.00819965e-03 -9.47217744e-06 9.99987459e-01 -1.96348267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters 0.05534479666928319 Centerline is valid? [True, True] Translation: X:319.27, Y:8.51, Z:-1.96 [[ 9.99920528e-01 1.15585172e-02 -5.03363912e-03 3.19270476e+02] [-1.15582408e-02 9.99933198e-01 8.40170279e-05 8.50998557e+00] [ 5.03427398e-03 -2.58303381e-05 9.99987328e-01 -1.96450016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02439141799994 meters 0.055536926323172774 Centerline is valid? [True, True] Translation: X:319.33, Y:8.50, Z:-1.97 [[ 9.99951667e-01 8.79348893e-03 -4.39757853e-03 3.19328101e+02] [-8.79325203e-03 9.99961336e-01 7.32013419e-05 8.50318913e+00] [ 4.39805220e-03 -3.45287874e-05 9.99990328e-01 -1.96505062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08439141799994 meters 0.05621307679014658 Centerline is valid? [True, True] Translation: X:319.39, Y:8.50, Z:-1.96 [[ 9.99982434e-01 5.04173342e-03 -3.11645778e-03 3.19387189e+02] [-5.04159662e-03 9.99987290e-01 5.17509229e-05 8.49724840e+00] [ 3.11667908e-03 -3.60380908e-05 9.99995142e-01 -1.96223227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14439141799994 meters 0.056235593695098084 Centerline is valid? [True, True] Translation: X:319.45, Y:8.49, Z:-1.96 [[ 9.99992374e-01 2.93465171e-03 -2.57690169e-03 3.19446328e+02] [-2.93455132e-03 9.99995693e-01 4.27378389e-05 8.49442288e+00] [ 2.57701602e-03 -3.51754627e-05 9.99996679e-01 -1.96126034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20439141799994 meters 0.0558450883677342 Centerline is valid? [True, True] Translation: X:319.51, Y:8.49, Z:-1.96 [[ 9.99998300e-01 -7.33365323e-04 -1.69183305e-03 3.19505519e+02] [ 7.33413684e-04 9.99999731e-01 2.79647600e-05 8.48976476e+00] [ 1.69181209e-03 -2.92055260e-05 9.99998568e-01 -1.96009858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26439141799995 meters 0.05586268694681786 Centerline is valid? [True, True] Translation: X:319.56, Y:8.48, Z:-1.96 [[ 9.99988694e-01 -4.61279151e-03 -1.15537629e-03 3.19564653e+02] [ 4.61281664e-03 9.99989361e-01 1.90816786e-05 8.48338375e+00] [ 1.15527598e-03 -2.44110019e-05 9.99999332e-01 -1.95993572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32439141799995 meters 0.055677322750391015 Centerline is valid? [True, True] Translation: X:319.63, Y:8.49, Z:-1.96 [[ 9.99981827e-01 -6.00729363e-03 -5.07926111e-04 3.19625573e+02] [ 6.00729871e-03 9.99981956e-01 8.48848753e-06 8.48607903e+00] [ 5.07865953e-04 -1.15395971e-05 9.99999871e-01 -1.95846617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38439141799995 meters 0.05528203311924949 Centerline is valid? [True, True] Translation: X:319.69, Y:8.49, Z:-1.96 [[ 9.99973662e-01 -7.24071631e-03 -4.96780709e-04 3.19687202e+02] [ 7.24072135e-03 9.99973786e-01 8.36461597e-06 8.48504612e+00] [ 4.96707121e-04 -1.19614463e-05 9.99999877e-01 -1.95762119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44439141799995 meters 0.055855078753619884 Centerline is valid? [True, True] Translation: X:319.75, Y:8.48, Z:-1.96 [[ 9.99986018e-01 -5.27232505e-03 -4.07604403e-04 3.19747994e+02] [ 5.27232832e-03 9.99986101e-01 6.94960368e-06 8.48175723e+00] [ 4.07562097e-04 -9.09853074e-06 9.99999917e-01 -1.95810828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50439141799995 meters 0.05601733551536942 Centerline is valid? [True, True] Translation: X:319.81, Y:8.48, Z:-1.96 [[ 9.99999109e-01 1.26811284e-03 4.16653393e-04 3.19807832e+02] [-1.26811005e-03 9.99999196e-01 -6.97553307e-06 8.48167585e+00] [-4.16661904e-04 6.44716451e-06 9.99999913e-01 -1.95754636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56439141799996 meters 0.05567901455921169 Centerline is valid? [True, True] Translation: X:319.87, Y:8.48, Z:-1.96 [[ 9.99971888e-01 7.28488271e-03 1.77585169e-03 3.19867806e+02] [-7.28484170e-03 9.99973465e-01 -2.95638779e-05 8.48383524e+00] [-1.77601993e-03 1.66262484e-05 9.99998423e-01 -1.95634074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62439141799996 meters 0.056146338494953645 Centerline is valid? [True, True] Translation: X:319.93, Y:8.49, Z:-1.96 [[ 9.99953777e-01 9.41626233e-03 1.94388446e-03 3.19927150e+02] [-9.41621635e-03 9.99955666e-01 -3.28067277e-05 8.48592644e+00] [-1.94410720e-03 1.45011746e-05 9.99998110e-01 -1.95577000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68439141799996 meters 0.05608504728539497 Centerline is valid? [True, True] Translation: X:319.99, Y:8.48, Z:-1.96 [[ 9.99959344e-01 9.01691715e-03 -8.06406008e-05 3.19986142e+02] [-9.01691708e-03 9.99959347e-01 1.18416583e-06 8.48294948e+00] [ 8.06479999e-05 -4.56988067e-07 9.99999997e-01 -1.95709206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74439141799996 meters 0.05688508708788054 Centerline is valid? [True, True] Translation: X:320.05, Y:8.48, Z:-1.96 [[ 9.99986367e-01 5.21566486e-03 -2.51751609e-04 3.20045359e+02] [-5.21566401e-03 9.99986398e-01 4.05399246e-06 8.47801311e+00] [ 2.51769329e-04 -2.74088538e-06 9.99999968e-01 -1.95923416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80439141799997 meters 0.056962061023476764 Centerline is valid? [True, True] Translation: X:320.11, Y:8.47, Z:-1.96 [[ 9.99997904e-01 -1.69813096e-03 1.14427892e-03 3.20105272e+02] [ 1.69815372e-03 9.99998558e-01 -1.89189092e-05 8.47396973e+00] [-1.14424514e-03 2.08620310e-05 9.99999345e-01 -1.95790928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86439141799997 meters 0.056236905313301534 Centerline is valid? [True, True] Translation: X:320.17, Y:8.47, Z:-1.96 [[ 9.99961488e-01 -8.22649121e-03 3.05725084e-03 3.20165513e+02] [ 8.22668375e-03 9.99966159e-01 -5.04058415e-05 8.46978334e+00] [-3.05673272e-03 7.55549361e-05 9.99995325e-01 -1.95705048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92439141799997 meters 0.056393583079462774 Centerline is valid? [True, True] Translation: X:320.23, Y:8.46, Z:-1.96 [[ 9.99880821e-01 -1.48748841e-02 4.13297541e-03 3.20225408e+02] [ 1.48752927e-02 9.99889354e-01 -6.81442528e-05 8.46269627e+00] [-4.13150447e-03 1.29615350e-04 9.99991457e-01 -1.95748319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters 0.05591265204855987 Centerline is valid? [True, True] Translation: X:320.29, Y:8.46, Z:-1.96 [[ 9.99806455e-01 -1.92838798e-02 3.89661367e-03 3.20286228e+02] [ 1.92842765e-02 9.99814039e-01 -6.42737483e-05 8.45905620e+00] [-3.89464961e-03 1.39404684e-04 9.99992406e-01 -1.95756563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters 0.05633999511660955 Centerline is valid? [True, True] Translation: X:320.35, Y:8.45, Z:-1.96 [[ 9.99646134e-01 -2.64016696e-02 3.24952122e-03 3.20346875e+02] [ 2.64019831e-02 9.99651405e-01 -5.36052572e-05 8.45278218e+00] [-3.24697319e-03 1.39380092e-04 9.99994719e-01 -1.95883267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters 0.055422303460109214 Centerline is valid? [True, True] Translation: X:320.41, Y:8.46, Z:-1.96 [[ 9.99454449e-01 -3.29306758e-02 2.52506795e-03 3.20407166e+02] [ 3.29308859e-02 9.99457630e-01 -4.16503876e-05 8.45884248e+00] [-2.52232686e-03 1.24780390e-04 9.99996811e-01 -1.95841165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters 0.054737087339115434 Centerline is valid? [True, True] Translation: X:320.47, Y:8.46, Z:-1.96 [[ 9.99367787e-01 -3.55164811e-02 1.61416824e-03 3.20467531e+02] [ 3.55165704e-02 9.99369087e-01 -2.66254443e-05 8.45878860e+00] [-1.61220420e-03 8.39383312e-05 9.99998697e-01 -1.95856051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters 0.05779944057411214 Centerline is valid? [True, True] Translation: X:320.53, Y:8.44, Z:-1.96 [[ 9.99307143e-01 -3.71984355e-02 1.22882151e-03 3.20527252e+02] [ 3.71984885e-02 9.99307897e-01 -2.02770080e-05 8.43871082e+00] [-1.22721677e-03 6.59732619e-05 9.99999245e-01 -1.96112147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters 0.0559377553049895 Centerline is valid? [True, True] Translation: X:320.59, Y:8.45, Z:-1.96 [[ 9.99279742e-01 -3.79389799e-02 7.94941724e-04 3.20589054e+02] [ 3.79390022e-02 9.99280057e-01 -1.29449025e-05 8.44948220e+00] [-7.93878295e-04 4.30948747e-05 9.99999684e-01 -1.96063705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters 0.05637634359275298 Centerline is valid? [True, True] Translation: X:320.65, Y:8.45, Z:-1.96 [[ 9.99272973e-01 -3.81176209e-02 -7.56384555e-04 3.20650058e+02] [ 3.81176414e-02 9.99273259e-01 1.26742807e-05 8.44737157e+00] [ 7.55351746e-04 -4.14966614e-05 9.99999714e-01 -1.96171868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters 0.056282723510808236 Centerline is valid? [True, True] Translation: X:320.71, Y:8.45, Z:-1.96 [[ 9.99242389e-01 -3.88793612e-02 -1.74435056e-03 3.20711678e+02] [ 3.88794711e-02 9.99243907e-01 2.90717904e-05 8.45090522e+00] [ 1.74190138e-03 -9.68691925e-05 9.99998478e-01 -1.96148854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46439141799993 meters 0.057638803227181984 Centerline is valid? [True, True] Translation: X:320.77, Y:8.45, Z:-1.96 [[ 9.99265351e-01 -3.83201749e-02 -5.68777626e-04 3.20772560e+02] [ 3.83201865e-02 9.99265512e-01 9.53694460e-06 8.44978253e+00] [ 5.67994408e-04 -3.13256030e-05 9.99999838e-01 -1.96116100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52439141799994 meters 0.05999676315188841 Centerline is valid? [True, True] Translation: X:320.83, Y:8.44, Z:-1.96 [[ 9.99329115e-01 -3.66227792e-02 3.03195551e-04 3.20832207e+02] [ 3.66227824e-02 9.99329161e-01 -5.03276471e-06 8.44280869e+00] [-3.02807841e-04 1.61332530e-05 9.99999954e-01 -1.96163852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58439141799994 meters 0.05511638230645449 Centerline is valid? [True, True] Translation: X:320.89, Y:8.47, Z:-1.96 [[ 9.99455419e-01 -3.29003069e-02 2.53665576e-03 3.20893525e+02] [ 3.29005194e-02 9.99458631e-01 -4.20499670e-05 8.46991051e+00] [-2.53389904e-03 1.25484359e-04 9.99996782e-01 -1.95948210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64439141799994 meters 0.0549180226753152 Centerline is valid? [True, True] Translation: X:320.95, Y:8.47, Z:-1.96 [[ 9.99565496e-01 -2.93461074e-02 2.76128228e-03 3.20953474e+02] [ 2.93463459e-02 9.99569302e-01 -4.58807311e-05 8.47335080e+00] [-2.75874659e-03 1.26894341e-04 9.99996187e-01 -1.95969075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70439141799994 meters 0.05451203739872206 Centerline is valid? [True, True] Translation: X:321.01, Y:8.48, Z:-1.96 [[ 9.99604710e-01 -2.79830000e-02 2.71564911e-03 3.21014996e+02] [ 2.79832255e-02 9.99608392e-01 -4.50649317e-05 8.47726358e+00] [-2.71332459e-03 1.21039739e-04 9.99996312e-01 -1.95920091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76439141799995 meters 0.05699621619635927 Centerline is valid? [True, True] Translation: X:321.08, Y:8.47, Z:-1.96 [[ 9.99621694e-01 -2.74288876e-02 2.03110897e-03 3.21075889e+02] [ 2.74290126e-02 9.99623753e-01 -3.36815331e-05 8.46608764e+00] [-2.02942093e-03 8.93801048e-05 9.99997937e-01 -1.96098298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82439141799995 meters 0.0551683260403158 Centerline is valid? [True, True] Translation: X:321.14, Y:8.48, Z:-1.96 [[ 9.99619054e-01 -2.75454865e-02 1.73003939e-03 3.21138247e+02] [ 2.75455772e-02 9.99620548e-01 -2.86430084e-05 8.47818300e+00] [-1.72859394e-03 7.62870307e-05 9.99998503e-01 -1.96076696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88439141799995 meters 0.05480644155874612 Centerline is valid? [True, True] Translation: X:321.20, Y:8.49, Z:-1.96 [[ 9.99670645e-01 -2.56198919e-02 1.49107487e-03 3.21198874e+02] [ 2.56199574e-02 9.99671755e-01 -2.48958207e-05 8.48691686e+00] [-1.48994760e-03 6.30888958e-05 9.99998888e-01 -1.96106460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94439141799995 meters 0.05624371899630209 Centerline is valid? [True, True] Translation: X:321.26, Y:8.48, Z:-1.96 [[ 9.99820383e-01 -1.89336064e-02 8.49199819e-04 3.21258737e+02] [ 1.89336253e-02 9.99820743e-01 -1.42154792e-05 8.48213712e+00] [-8.48778444e-04 3.02913570e-05 9.99999639e-01 -1.96215948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00439141799995 meters 0.055023205233423376 Centerline is valid? [True, True] Translation: X:321.32, Y:8.49, Z:-1.96 [[ 9.99946834e-01 -1.02296769e-02 1.29731572e-03 3.21319757e+02] [ 1.02297136e-02 9.99947675e-01 -2.16379196e-05 8.49169104e+00] [-1.29702649e-03 3.49079374e-05 9.99999158e-01 -1.96154729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06439141799996 meters 0.05502553393041195 Centerline is valid? [True, True] Translation: X:321.38, Y:8.50, Z:-1.96 [[ 9.99984926e-01 -4.95967932e-03 2.35562257e-03 3.21380411e+02] [ 4.95978570e-03 9.99987699e-01 -3.93192621e-05 8.49655302e+00] [-2.35539859e-03 5.10020526e-05 9.99997225e-01 -1.96129009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12439141799996 meters 0.0559973215229248 Centerline is valid? [True, True] Translation: X:321.44, Y:8.50, Z:-1.96 [[ 9.99989047e-01 2.52186328e-03 3.94291897e-03 3.21439584e+02] [-2.52162338e-03 9.99996819e-01 -6.58135297e-05 8.49968646e+00] [-3.94307239e-03 5.58702522e-05 9.99992224e-01 -1.96120545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18439141799996 meters 0.05557712538884677 Centerline is valid? [True, True] Translation: X:321.50, Y:8.51, Z:-1.96 [[ 9.99950993e-01 8.82038642e-03 4.49593189e-03 3.21499964e+02] [-8.82013811e-03 9.99961099e-01 -7.50550410e-05 8.50545732e+00] [-4.49641901e-03 3.53966226e-05 9.99989890e-01 -1.96176578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24439141799996 meters 0.05452370218234704 Centerline is valid? [True, True] Translation: X:321.56, Y:8.51, Z:-1.96 [[ 9.99933767e-01 1.04170713e-02 4.89347406e-03 3.21559286e+02] [-1.04167961e-02 9.99945740e-01 -8.17290772e-05 8.50810758e+00] [-4.89405992e-03 3.07493427e-05 9.99988024e-01 -1.96181791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30439141799997 meters 0.05504366113878534 Centerline is valid? [True, True] Translation: X:321.62, Y:8.51, Z:-1.96 [[ 9.99897887e-01 1.36021969e-02 4.38134242e-03 3.21618320e+02] [-1.36020071e-02 9.99907486e-01 -7.31254072e-05 8.51012165e+00] [-4.38193175e-03 1.35228894e-05 9.99990399e-01 -1.96279995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36439141799997 meters 0.055140238823772385 Centerline is valid? [True, True] Translation: X:321.68, Y:8.51, Z:-1.96 [[ 9.99914227e-01 1.26474114e-02 3.40324193e-03 3.21677213e+02] [-1.26472914e-02 9.99920018e-01 -5.67719215e-05 8.51032315e+00] [-3.40368775e-03 1.37252595e-05 9.99994207e-01 -1.96385261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42439141799997 meters 0.05477960856729237 Centerline is valid? [True, True] Translation: X:321.74, Y:8.51, Z:-1.97 [[ 9.99947794e-01 9.94856694e-03 2.33129073e-03 3.21735928e+02] [-9.94850341e-03 9.99950512e-01 -3.88446452e-05 8.50725613e+00] [-2.33156181e-03 1.56497635e-05 9.99997282e-01 -1.96545658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters 0.05493206382489962 Centerline is valid? [True, True] Translation: X:321.80, Y:8.50, Z:-1.97 [[ 9.99989155e-01 4.41544567e-03 1.48084075e-03 3.21795025e+02] [-4.41541396e-03 9.99990252e-01 -2.46865560e-05 8.50272318e+00] [-1.48093532e-03 1.81477634e-05 9.99998903e-01 -1.96673553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters 0.05489517777753373 Centerline is valid? [True, True] Translation: X:321.86, Y:8.50, Z:-1.97 [[ 9.99998804e-01 6.70554743e-04 1.39351998e-03 3.21855722e+02] [-6.70523262e-04 9.99999775e-01 -2.30581744e-05 8.50176330e+00] [-1.39353513e-03 2.21237593e-05 9.99999029e-01 -1.96713617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters 0.054801855423401546 Centerline is valid? [True, True] Translation: X:321.92, Y:8.50, Z:-1.97 [[ 9.99988693e-01 -4.73142581e-03 4.77797861e-04 3.21916928e+02] [ 4.73143011e-03 9.99988807e-01 -7.87909765e-06 8.49970916e+00] [-4.77755234e-04 1.01396758e-05 9.99999886e-01 -1.96814466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters 0.05499439455680023 Centerline is valid? [True, True] Translation: X:321.98, Y:8.50, Z:-1.97 [[ 9.99945440e-01 -1.04451826e-02 -1.20029284e-04 3.21977751e+02] [ 1.04451830e-02 9.99945448e-01 2.00023143e-06 8.49861012e+00] [ 1.20001844e-04 -3.25385013e-06 9.99999993e-01 -1.96821399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters 0.05423892691241513 Centerline is valid? [True, True] Translation: X:322.04, Y:8.50, Z:-1.97 [[ 9.99887251e-01 -1.50159472e-02 -8.55963888e-05 3.22037960e+02] [ 1.50159473e-02 9.99887254e-01 1.43850903e-06 8.50029397e+00] [ 8.55651374e-05 -2.72365770e-06 9.99999996e-01 -1.96761032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters 0.05614335413196159 Centerline is valid? [True, True] Translation: X:322.10, Y:8.48, Z:-1.97 [[ 9.99753197e-01 -2.22103932e-02 -4.93387121e-04 3.22097314e+02] [ 2.22103999e-02 9.99753319e-01 8.13927677e-06 8.48431180e+00] [ 4.93084635e-04 -1.90955932e-05 9.99999878e-01 -1.97007159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters 0.05693437588325072 Centerline is valid? [True, True] Translation: X:322.16, Y:8.48, Z:-1.97 [[ 9.99583669e-01 -2.88465248e-02 6.05730133e-04 3.22157295e+02] [ 2.88465362e-02 9.99583852e-01 -1.00423756e-05 8.48171636e+00] [-6.05188373e-04 2.75114109e-05 9.99999816e-01 -1.96925640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters 0.05453695569074151 Centerline is valid? [True, True] Translation: X:322.22, Y:8.49, Z:-1.97 [[ 9.99477653e-01 -3.23065493e-02 8.41026374e-04 3.22217934e+02] [ 3.23065724e-02 9.99478006e-01 -1.38579555e-05 8.48796256e+00] [-8.40139661e-04 4.10213963e-05 9.99999646e-01 -1.96891531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96439141799993 meters 0.054585577112421735 Centerline is valid? [True, True] Translation: X:322.28, Y:8.49, Z:-1.97 [[ 9.99377629e-01 -3.52748047e-02 -2.04688061e-04 3.22279048e+02] [ 3.52748062e-02 9.99377650e-01 3.48594730e-06 8.48650988e+00] [ 2.04437707e-04 -1.07041094e-05 9.99999979e-01 -1.96957891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02439141799994 meters 0.053706396256555794 Centerline is valid? [True, True] Translation: X:322.34, Y:8.49, Z:-1.97 [[ 9.99373864e-01 -3.53698735e-02 -9.23123574e-04 3.22341429e+02] [ 3.53699029e-02 9.99374289e-01 1.55654639e-05 8.48779281e+00] [ 9.21995417e-04 -4.82065090e-05 9.99999574e-01 -1.96996914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08439141799994 meters 0.054244085765532336 Centerline is valid? [True, True] Translation: X:322.40, Y:8.49, Z:-1.97 [[ 9.99469261e-01 -3.25035751e-02 -2.17104924e-03 3.22402401e+02] [ 3.25037302e-02 9.99471614e-01 3.61559973e-05 8.48933918e+00] [ 2.16872689e-03 -1.06704007e-04 9.99997643e-01 -1.97030559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14439141799994 meters 0.054200654739910994 Centerline is valid? [True, True] Translation: X:322.46, Y:8.49, Z:-1.97 [[ 9.99626008e-01 -2.72639631e-02 -2.12612345e-03 3.22463176e+02] [ 2.72641000e-02 9.99628265e-01 3.54292260e-05 8.49131883e+00] [ 2.12436716e-03 -9.33828180e-05 9.99997739e-01 -1.97096477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20439141799994 meters 0.05603188982847151 Centerline is valid? [True, True] Translation: X:322.52, Y:8.48, Z:-1.97 [[ 9.99839752e-01 -1.78110352e-02 -1.79948767e-03 3.22522218e+02] [ 1.78111179e-02 9.99841369e-01 2.99685983e-05 8.48365138e+00] [ 1.79866845e-03 -6.20146830e-05 9.99998380e-01 -1.97261633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26439141799995 meters 0.054883430251259614 Centerline is valid? [True, True] Translation: X:322.58, Y:8.50, Z:-1.97 [[ 9.99955188e-01 -9.44698371e-03 -6.13962918e-04 3.22583269e+02] [ 9.44699180e-03 9.99955376e-01 1.02825598e-05 8.49613809e+00] [ 6.13838381e-04 -1.60822017e-05 9.99999811e-01 -1.97069424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32439141799995 meters 0.05425626468458372 Centerline is valid? [True, True] Translation: X:322.64, Y:8.50, Z:-1.97 [[ 9.99995812e-01 2.60837798e-03 1.25399483e-03 3.22644166e+02] [-2.60835384e-03 9.99996598e-01 -2.08848255e-05 8.50445647e+00] [-1.25404504e-03 1.76138758e-05 9.99999214e-01 -1.96941597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38439141799995 meters 0.054420830874779474 Centerline is valid? [True, True] Translation: X:322.70, Y:8.51, Z:-1.97 [[ 9.99929044e-01 1.16691249e-02 2.39554912e-03 3.22704541e+02] [-1.16690624e-02 9.99931913e-01 -4.00566563e-05 8.50868535e+00] [-2.39585344e-03 1.21000019e-05 9.99997130e-01 -1.97017012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44439141799995 meters 0.0546916807231154 Centerline is valid? [True, True] Translation: X:322.76, Y:8.51, Z:-1.97 [[ 9.99884236e-01 1.51343473e-02 1.57025058e-03 3.22763640e+02] [-1.51343241e-02 9.99885469e-01 -2.66344989e-05 8.51050065e+00] [-1.57047383e-03 2.86673439e-06 9.99998767e-01 -1.97085609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50439141799995 meters 0.05479016582013148 Centerline is valid? [True, True] Translation: X:322.82, Y:8.51, Z:-1.97 [[ 9.99816882e-01 1.91355703e-02 -1.78005658e-04 3.22822527e+02] [-1.91355702e-02 9.99816898e-01 2.26087030e-06 8.51278406e+00] [ 1.78016327e-04 1.14578347e-06 9.99999984e-01 -1.97217440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56439141799996 meters 0.05574673225610791 Centerline is valid? [True, True] Translation: X:322.88, Y:8.51, Z:-1.97 [[ 9.99747781e-01 2.24487025e-02 -6.56257007e-04 3.22881700e+02] [-2.24487008e-02 9.99747996e-01 9.97151329e-06 8.51344469e+00] [ 6.56315475e-04 4.76311890e-06 9.99999785e-01 -1.97356965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62439141799996 meters 0.055355967289363754 Centerline is valid? [True, True] Translation: X:322.94, Y:8.51, Z:-1.97 [[ 9.99698069e-01 2.45670431e-02 4.81616197e-04 3.22940133e+02] [-2.45670419e-02 9.99698185e-01 -8.51798114e-06 8.51267844e+00] [-4.81680100e-04 -3.31647599e-06 9.99999884e-01 -1.97255753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68439141799996 meters 0.05527831393204872 Centerline is valid? [True, True] Translation: X:323.00, Y:8.51, Z:-1.97 [[ 9.99649257e-01 2.63541365e-02 2.61204802e-03 3.22998022e+02] [-2.63541158e-02 9.99652669e-01 -4.23622597e-05 8.51425211e+00] [-2.61225720e-03 -2.64908146e-05 9.99996588e-01 -1.97266410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74439141799996 meters 0.05539505909040808 Centerline is valid? [True, True] Translation: X:323.06, Y:8.51, Z:-1.97 [[ 9.99693267e-01 2.44755887e-02 3.78397922e-03 3.23057269e+02] [-2.44755330e-02 9.99700427e-01 -6.10481732e-05 8.50625455e+00] [-3.78433983e-03 -3.15854604e-05 9.99992839e-01 -1.97105454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80439141799997 meters 0.05468247825717886 Centerline is valid? [True, True] Translation: X:323.12, Y:8.50, Z:-1.97 [[ 9.99808959e-01 1.93295096e-02 2.90109155e-03 3.23116403e+02] [-1.93294550e-02 9.99813168e-01 -4.68706243e-05 8.50035776e+00] [-2.90145551e-03 -9.21484829e-06 9.99995791e-01 -1.97198914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86439141799997 meters 0.05460244425925674 Centerline is valid? [True, True] Translation: X:323.17, Y:8.49, Z:-1.97 [[ 9.99884788e-01 1.51040223e-02 1.50957818e-03 3.23174479e+02] [-1.51040026e-02 9.99885928e-01 -2.43943854e-05 8.49393126e+00] [-1.50977444e-03 1.59090197e-06 9.99998860e-01 -1.97495366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92439141799997 meters 0.05548503601956852 Centerline is valid? [True, True] Translation: X:323.23, Y:8.49, Z:-1.97 [[ 9.99953329e-01 9.63444377e-03 7.19453698e-04 3.23232940e+02] [-9.63443789e-03 9.99953588e-01 -1.16370777e-05 8.48514785e+00] [-7.19532423e-04 4.70500261e-06 9.99999741e-01 -1.97446717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters 0.055978501646872465 Centerline is valid? [True, True] Translation: X:323.29, Y:8.48, Z:-1.98 [[ 9.99970856e-01 7.58996069e-03 8.24913695e-04 3.23291348e+02] [-7.58995230e-03 9.99971196e-01 -1.33006615e-05 8.47813327e+00] [-8.24990886e-04 7.03921831e-06 9.99999660e-01 -1.97624125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters 0.055612095723474336 Centerline is valid? [True, True] Translation: X:323.35, Y:8.47, Z:-1.98 [[ 9.99970755e-01 7.44992963e-03 1.72845246e-03 3.23348664e+02] [-7.44989289e-03 9.99972249e-01 -2.76904842e-05 8.47171865e+00] [-1.72861078e-03 1.48128887e-05 9.99998506e-01 -1.97602348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters 0.0552585904666502 Centerline is valid? [True, True] Translation: X:323.41, Y:8.47, Z:-1.98 [[ 9.99942830e-01 1.03688580e-02 2.61213268e-03 3.23407143e+02] [-1.03687838e-02 9.99946242e-01 -4.19327007e-05 8.46876124e+00] [-2.61242705e-03 1.48456644e-05 9.99996587e-01 -1.97534007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters 0.054935123888944795 Centerline is valid? [True, True] Translation: X:323.47, Y:8.47, Z:-1.98 [[ 9.99927271e-01 1.17899412e-02 2.53985500e-03 3.23466140e+02] [-1.17898762e-02 9.99930496e-01 -4.05311476e-05 8.46804584e+00] [-2.54015633e-03 1.05836237e-05 9.99996774e-01 -1.97522764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters 0.05542315525797624 Centerline is valid? [True, True] Translation: X:323.52, Y:8.47, Z:-1.98 [[ 9.99857897e-01 1.67596043e-02 1.81701969e-03 3.23523762e+02] [-1.67595792e-02 9.99859548e-01 -2.90494528e-05 8.46507532e+00] [-1.81725134e-03 -1.40716063e-06 9.99998349e-01 -1.97566688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters 0.0561502154572484 Centerline is valid? [True, True] Translation: X:323.58, Y:8.46, Z:-1.98 [[ 9.99783798e-01 2.07919166e-02 2.32685529e-04 3.23581400e+02] [-2.07919163e-02 9.99783825e-01 -3.86841078e-06 8.46060970e+00] [-2.32715660e-04 -9.70403622e-07 9.99999973e-01 -1.97676215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters 0.056328054082376476 Centerline is valid? [True, True] Translation: X:323.64, Y:8.46, Z:-1.98 [[ 9.99763310e-01 2.17558264e-02 9.38630699e-05 3.23640302e+02] [-2.17558264e-02 9.99763314e-01 -1.60638303e-06 8.45690289e+00] [-9.38758022e-05 -4.36065833e-07 9.99999996e-01 -1.97781452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters 0.05654938666133329 Centerline is valid? [True, True] Translation: X:323.70, Y:8.45, Z:-1.98 [[ 9.99768542e-01 2.15118264e-02 3.23027842e-04 3.23697697e+02] [-2.15118258e-02 9.99768594e-01 -5.24497898e-06 8.44974178e+00] [-3.23065921e-04 -1.70515369e-06 9.99999948e-01 -1.97677920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46439141799993 meters 0.05651814442374656 Centerline is valid? [True, True] Translation: X:323.76, Y:8.44, Z:-1.98 [[ 9.99809101e-01 1.95131114e-02 1.00013224e-03 3.23756035e+02] [-1.95131056e-02 9.99809601e-01 -1.55781755e-05 8.44250587e+00] [-1.00024580e-03 -3.94048438e-06 9.99999500e-01 -1.97687295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52439141799994 meters 0.05686542861540106 Centerline is valid? [True, True] Translation: X:323.81, Y:8.44, Z:-1.98 [[ 9.99844442e-01 1.76173666e-02 8.49042897e-04 3.23814712e+02] [-1.76173617e-02 9.99844802e-01 -1.32701964e-05 8.43829289e+00] [-8.49144914e-04 -1.68976371e-06 9.99999639e-01 -1.97683757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58439141799994 meters 0.056314007225458894 Centerline is valid? [True, True] Translation: X:323.87, Y:8.43, Z:-1.98 [[ 9.99924481e-01 1.21586060e-02 1.78892689e-03 3.23873002e+02] [-1.21585757e-02 9.99926081e-01 -2.77835193e-05 8.43158951e+00] [-1.78913247e-03 6.03061797e-06 9.99998399e-01 -1.97636429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64439141799994 meters 0.056663747076198236 Centerline is valid? [True, True] Translation: X:323.93, Y:8.42, Z:-1.98 [[ 9.99976073e-01 6.59551018e-03 2.08632921e-03 3.23931368e+02] [-6.59545758e-03 9.99978249e-01 -3.20922341e-05 8.42342135e+00] [-2.08649550e-03 1.83311704e-05 9.99997823e-01 -1.97745026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70439141799994 meters 0.0568706319831192 Centerline is valid? [True, True] Translation: X:323.99, Y:8.41, Z:-1.98 [[ 9.99984027e-01 -5.34776029e-03 1.82937353e-03 3.23991532e+02] [ 5.34782053e-03 9.99985700e-01 -2.80410657e-05 8.41426902e+00] [-1.82919742e-03 3.78237792e-05 9.99998326e-01 -1.97810587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76439141799995 meters 0.05581767039116513 Centerline is valid? [True, True] Translation: X:324.05, Y:8.41, Z:-1.98 [[ 9.99816782e-01 -1.90918410e-02 1.37993411e-03 3.24052143e+02] [ 1.90918883e-02 9.99817733e-01 -2.11056021e-05 8.41097725e+00] [-1.37927965e-03 4.74472830e-05 9.99999048e-01 -1.97805387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82439141799995 meters 0.05701184636030184 Centerline is valid? [True, True] Translation: X:324.11, Y:8.40, Z:-1.98 [[ 9.99613087e-01 -2.77720633e-02 1.54556558e-03 3.24111902e+02] [ 2.77721330e-02 9.99614280e-01 -2.36573960e-05 8.39888053e+00] [-1.54431241e-03 6.65718955e-05 9.99998805e-01 -1.97877071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88439141799995 meters 0.05644914444445097 Centerline is valid? [True, True] Translation: X:324.17, Y:8.40, Z:-1.98 [[ 9.99242681e-01 -3.88463143e-02 2.24257090e-03 3.24172185e+02] [ 3.88464889e-02 9.99245190e-01 -3.43175519e-05 8.39906202e+00] [-2.23954508e-03 1.21407568e-04 9.99997485e-01 -1.97850038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94439141799995 meters 0.05543247544935602 Centerline is valid? [True, True] Translation: X:324.23, Y:8.40, Z:-1.98 [[ 9.98975453e-01 -4.52139608e-02 1.93469284e-03 3.24232627e+02] [ 4.52141026e-02 9.98977319e-01 -2.96263780e-05 8.40457073e+00] [-1.93137474e-03 1.17071425e-04 9.99998128e-01 -1.97857980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00439141799995 meters 0.05543489831515318 Centerline is valid? [True, True] Translation: X:324.29, Y:8.40, Z:-1.98 [[ 9.98934459e-01 -4.60988484e-02 2.20066962e-03 3.24294296e+02] [ 4.60990338e-02 9.98936874e-01 -3.35722271e-05 8.39992892e+00] [-2.19678239e-03 1.34985198e-04 9.99997578e-01 -1.97835647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06439141799996 meters 0.05626273134863374 Centerline is valid? [True, True] Translation: X:324.35, Y:8.40, Z:-1.98 [[ 9.99031749e-01 -4.39601977e-02 1.75065732e-03 3.24353582e+02] [ 4.39603121e-02 9.99033278e-01 -2.68978871e-05 8.40067829e+00] [-1.74778248e-03 1.03831285e-04 9.99998467e-01 -1.97865282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12439141799996 meters 0.05588353760330027 Centerline is valid? [True, True] Translation: X:324.41, Y:8.40, Z:-1.98 [[ 9.99225087e-01 -3.93240973e-02 1.68578565e-03 3.24414673e+02] [ 3.93241969e-02 9.99226504e-01 -2.59689018e-05 8.40417470e+00] [-1.68346050e-03 9.22409448e-05 9.99998579e-01 -1.97906640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18439141799996 meters 0.05514971613113378 Centerline is valid? [True, True] Translation: X:324.47, Y:8.41, Z:-1.98 [[ 9.99367173e-01 -3.55405982e-02 1.45607746e-03 3.24474709e+02] [ 3.55406683e-02 9.99368231e-01 -2.23066360e-05 8.40545339e+00] [-1.45436477e-03 7.40424859e-05 9.99998940e-01 -1.98008081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24439141799996 meters 0.05575720836620515 Centerline is valid? [True, True] Translation: X:324.54, Y:8.42, Z:-1.98 [[ 9.99602292e-01 -2.81663583e-02 1.38321837e-03 3.24535782e+02] [ 2.81664145e-02 9.99603248e-01 -2.11532448e-05 8.41514132e+00] [-1.38207377e-03 6.01051340e-05 9.99999043e-01 -1.97979753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30439141799997 meters 0.05602711346065987 Centerline is valid? [True, True] Translation: X:324.60, Y:8.41, Z:-1.98 [[ 9.99803453e-01 -1.97203437e-02 2.04039245e-03 3.24595777e+02] [ 1.97204485e-02 9.99805533e-01 -3.12704438e-05 8.41308331e+00] [-2.03937900e-03 7.15017521e-05 9.99997918e-01 -1.98048193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36439141799997 meters 0.055657223779877474 Centerline is valid? [True, True] Translation: X:324.66, Y:8.42, Z:-1.98 [[ 9.99935827e-01 -1.10998669e-02 2.26597205e-03 3.24656126e+02] [ 1.10999741e-02 9.99938393e-01 -3.47170612e-05 8.42463089e+00] [-2.26544710e-03 5.98670643e-05 9.99997432e-01 -1.98037024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42439141799997 meters 0.0574014619239858 Centerline is valid? [True, True] Translation: X:324.72, Y:8.42, Z:-1.98 [[ 9.99987975e-01 -4.51028442e-03 1.92557294e-03 3.24715669e+02] [ 4.51034966e-03 9.99989828e-01 -2.95390247e-05 8.42216204e+00] [-1.92542013e-03 3.82236768e-05 9.99998146e-01 -1.98195943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters 0.05583590978991073 Centerline is valid? [True, True] Translation: X:324.78, Y:8.44, Z:-1.98 [[ 9.99981231e-01 5.89615740e-03 1.66553887e-03 3.24776937e+02] [-5.89612308e-03 9.99982617e-01 -2.55151468e-05 8.43856642e+00] [-1.66566036e-03 1.56944457e-05 9.99998613e-01 -1.97966545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters 0.055627631541291446 Centerline is valid? [True, True] Translation: X:324.84, Y:8.44, Z:-1.98 [[ 9.99925069e-01 1.20955646e-02 1.88536095e-03 3.24835762e+02] [-1.20955308e-02 9.99926846e-01 -2.93247000e-05 8.43978639e+00] [-1.88557772e-03 6.51806120e-06 9.99998222e-01 -1.98058023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters 0.05627304865292978 Centerline is valid? [True, True] Translation: X:324.89, Y:8.44, Z:-1.98 [[ 9.99835526e-01 1.78871597e-02 2.99491740e-03 3.24893708e+02] [-1.78871031e-02 9.99840012e-01 -4.56564641e-05 8.44326020e+00] [-2.99525491e-03 -7.92144159e-06 9.99995514e-01 -1.97996557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters 0.055667284275867666 Centerline is valid? [True, True] Translation: X:324.95, Y:8.44, Z:-1.98 [[ 9.99833756e-01 1.78087548e-02 3.91268674e-03 3.24952375e+02] [-1.78086588e-02 9.99841412e-01 -5.93801939e-05 8.44210676e+00] [-3.91312372e-03 -1.03093809e-05 9.99992344e-01 -1.98039341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters 0.05608300635019144 Centerline is valid? [True, True] Translation: X:325.01, Y:8.44, Z:-1.98 [[ 9.99882076e-01 1.47357494e-02 4.32335050e-03 3.25010617e+02] [-1.47356041e-02 9.99891423e-01 -6.54698441e-05 8.43873293e+00] [-4.32384583e-03 1.75494251e-06 9.99990652e-01 -1.98081141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters 0.05577324216163705 Centerline is valid? [True, True] Translation: X:325.07, Y:8.43, Z:-1.98 [[ 9.99968084e-01 6.39914691e-03 4.78357078e-03 3.25069711e+02] [-6.39887475e-03 9.99979524e-01 -7.21985567e-05 8.42958200e+00] [-4.78393484e-03 4.15867822e-05 9.99988556e-01 -1.98205346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters 0.05575250457016897 Centerline is valid? [True, True] Translation: X:325.13, Y:8.42, Z:-1.98 [[ 9.99980662e-01 -3.98353745e-03 4.77570119e-03 3.25130495e+02] [ 3.98392664e-03 9.99992062e-01 -7.19832318e-05 8.42234009e+00] [-4.77537654e-03 9.10078830e-05 9.99988594e-01 -1.98295462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters 0.05628266150872338 Centerline is valid? [True, True] Translation: X:325.19, Y:8.41, Z:-1.98 [[ 9.99943839e-01 -9.71533901e-03 4.23455521e-03 3.25189711e+02] [ 9.71569634e-03 9.99952799e-01 -6.38200048e-05 8.41103638e+00] [-4.23373530e-03 1.04958073e-04 9.99991032e-01 -1.98383918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96439141799993 meters 0.05523496311828373 Centerline is valid? [True, True] Translation: X:325.25, Y:8.41, Z:-1.98 [[ 9.99868520e-01 -1.55205039e-02 4.69641210e-03 3.25249826e+02] [ 1.55210076e-02 9.99879539e-01 -7.08345901e-05 8.40844332e+00] [-4.69474698e-03 1.43718325e-04 9.99988969e-01 -1.98486588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02439141799994 meters 0.05663776904446246 Centerline is valid? [True, True] Translation: X:325.31, Y:8.40, Z:-1.99 [[ 9.99850177e-01 -1.64200542e-02 5.47766411e-03 3.25311239e+02] [ 1.64207530e-02 9.99865167e-01 -8.26148443e-05 8.40274774e+00] [-5.47556900e-03 1.72549836e-04 9.99984994e-01 -1.98530593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08439141799994 meters 0.05600327193199555 Centerline is valid? [True, True] Translation: X:325.37, Y:8.40, Z:-1.99 [[ 9.99856789e-01 -1.58851403e-02 5.83648557e-03 3.25372091e+02] [ 1.58859254e-02 9.99873807e-01 -8.81736878e-05 8.39970933e+00] [-5.83434839e-03 1.80879034e-04 9.99982964e-01 -1.98583725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14439141799994 meters 0.05701763919468389 Centerline is valid? [True, True] Translation: X:325.43, Y:8.39, Z:-1.99 [[ 9.99889032e-01 -1.39955618e-02 5.10367648e-03 3.25432269e+02] [ 1.39961392e-02 9.99902046e-01 -7.74312953e-05 8.39499028e+00] [-5.10209286e-03 1.48854469e-04 9.99986973e-01 -1.98630203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20439141799994 meters 0.05656353348229179 Centerline is valid? [True, True] Translation: X:325.49, Y:8.40, Z:-1.99 [[ 9.99923883e-01 -1.17889803e-02 3.63977182e-03 3.25493482e+02] [ 1.17892593e-02 9.99930503e-01 -5.52170051e-05 8.39942528e+00] [-3.63886791e-03 9.81230160e-05 9.99993374e-01 -1.98826692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26439141799995 meters 0.056046594937861904 Centerline is valid? [True, True] Translation: X:325.56, Y:8.40, Z:-1.99 [[ 9.99939385e-01 -1.06016271e-02 2.97182428e-03 3.25555960e+02] [ 1.06018078e-02 9.99943798e-01 -4.50625257e-05 8.40004105e+00] [-2.97117952e-03 7.65665041e-05 9.99995583e-01 -1.98926479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32439141799995 meters 0.05608540653439139 Centerline is valid? [True, True] Translation: X:325.62, Y:8.40, Z:-1.99 [[ 9.99948593e-01 -9.81700269e-03 2.53735329e-03 3.25618246e+02] [ 9.81713204e-03 9.99951810e-01 -3.85285590e-05 8.40105912e+00] [-2.53685278e-03 6.34361107e-05 9.99996780e-01 -1.98927353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38439141799995 meters 0.056203344350628265 Centerline is valid? [True, True] Translation: X:325.68, Y:8.40, Z:-1.99 [[ 9.99970058e-01 -7.58441020e-03 1.53640618e-03 3.25679128e+02] [ 7.58445507e-03 9.99971237e-01 -2.33769631e-05 8.40000013e+00] [-1.53618469e-03 3.50290668e-05 9.99998819e-01 -1.99027426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44439141799995 meters 0.055456745144386414 Centerline is valid? [True, True] Translation: X:325.74, Y:8.41, Z:-1.99 [[ 9.99981536e-01 -5.81164681e-03 1.77537520e-03 3.25740854e+02] [ 5.81170401e-03 9.99983112e-01 -2.70608407e-05 8.40804595e+00] [-1.77518795e-03 3.73782963e-05 9.99998424e-01 -1.98847061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50439141799995 meters 0.05527448351578596 Centerline is valid? [True, True] Translation: X:325.80, Y:8.40, Z:-1.99 [[ 9.99987559e-01 -4.10837997e-03 2.82896610e-03 3.25801938e+02] [ 4.10851859e-03 9.99991559e-01 -4.31904201e-05 8.40391136e+00] [-2.82876478e-03 5.48127426e-05 9.99995998e-01 -1.98875320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56439141799996 meters 0.05602872876466919 Centerline is valid? [True, True] Translation: X:325.86, Y:8.41, Z:-1.99 [[ 9.99985397e-01 -1.04348484e-03 5.30261399e-03 3.25863810e+02] [ 1.04393019e-03 9.99999452e-01 -8.12194948e-05 8.40618853e+00] [-5.30252633e-03 8.67538676e-05 9.99985938e-01 -1.98711479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62439141799996 meters 0.05595358658658119 Centerline is valid? [True, True] Translation: X:325.92, Y:8.41, Z:-1.99 [[ 9.99979717e-01 2.02097026e-03 6.03999843e-03 3.25923868e+02] [-2.02044728e-03 9.99997955e-01 -9.26869258e-05 8.40665299e+00] [-6.04017339e-03 8.04815474e-05 9.99981755e-01 -1.98656553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68439141799996 meters 0.055966380266766105 Centerline is valid? [True, True] Translation: X:325.98, Y:8.41, Z:-1.99 [[ 9.99960671e-01 6.77507153e-03 5.72316779e-03 3.25984954e+02] [-6.77467960e-03 9.99977048e-01 -8.78652457e-05 8.40877272e+00] [-5.72363172e-03 4.90891620e-05 9.99983619e-01 -1.98669828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74439141799996 meters 0.05659519999117284 Centerline is valid? [True, True] Translation: X:326.05, Y:8.41, Z:-1.99 [[ 9.99944056e-01 9.39451118e-03 4.86077102e-03 3.26046335e+02] [-9.39425893e-03 9.99955870e-01 -7.47247483e-05 8.40908271e+00] [-4.86125851e-03 2.90572264e-05 9.99988184e-01 -1.98717401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80439141799997 meters 0.056329095052480335 Centerline is valid? [True, True] Translation: X:326.11, Y:8.41, Z:-1.99 [[ 9.99943306e-01 9.42745697e-03 4.95055068e-03 3.26106145e+02] [-9.42719528e-03 9.99955560e-01 -7.61930105e-05 8.40503836e+00] [-4.95104898e-03 2.95188828e-05 9.99987743e-01 -1.98750349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86439141799997 meters 0.056477965111167594 Centerline is valid? [True, True] Translation: X:326.17, Y:8.40, Z:-1.99 [[ 9.99952895e-01 8.06944677e-03 5.39373049e-03 3.26166369e+02] [-8.06911609e-03 9.99967441e-01 -8.30666060e-05 8.40307160e+00] [-5.39422518e-03 3.95400556e-05 9.99985450e-01 -1.98761249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92439141799997 meters 0.057069674769952915 Centerline is valid? [True, True] Translation: X:326.23, Y:8.40, Z:-1.99 [[ 9.99968167e-01 6.26311355e-03 4.94356355e-03 3.26226372e+02] [-6.26281369e-03 9.99980386e-01 -7.61337716e-05 8.39847170e+00] [-4.94394342e-03 4.51707305e-05 9.99987778e-01 -1.98811282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters 0.05680380654355432 Centerline is valid? [True, True] Translation: X:326.29, Y:8.39, Z:-1.99 [[ 9.99980248e-01 4.01696260e-03 4.83398272e-03 3.26287207e+02] [-4.01664970e-03 9.99991930e-01 -7.44362678e-05 8.39349125e+00] [-4.83424272e-03 5.50183823e-05 9.99988313e-01 -1.98863820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters 0.05734657920483822 Centerline is valid? [True, True] Translation: X:326.35, Y:8.38, Z:-1.99 [[ 9.99988171e-01 -2.47723878e-03 4.18592067e-03 3.26347219e+02] [ 2.47753048e-03 9.99996929e-01 -6.45006790e-05 8.37961292e+00] [-4.18574803e-03 7.48706620e-05 9.99991237e-01 -1.98978804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters 0.05717775525356651 Centerline is valid? [True, True] Translation: X:326.41, Y:8.37, Z:-1.99 [[ 9.99918048e-01 -1.21316851e-02 4.08907620e-03 3.26407757e+02] [ 1.21320441e-02 9.99926402e-01 -6.30079976e-05 8.37125658e+00] [-4.08801086e-03 1.12611687e-04 9.99991638e-01 -1.98963305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters 0.057449562706429036 Centerline is valid? [True, True] Translation: X:326.47, Y:8.37, Z:-1.99 [[ 9.99800237e-01 -1.94689156e-02 4.52186617e-03 3.26468615e+02] [ 1.94694296e-02 9.99810450e-01 -6.96770061e-05 8.36564677e+00] [-4.51965251e-03 1.57701242e-04 9.99989774e-01 -1.98984842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters 0.06162605210234828 Centerline is valid? [True, True] Translation: X:326.53, Y:8.34, Z:-1.99 [[ 9.99552997e-01 -2.94565635e-02 5.11053647e-03 3.26527926e+02] [ 2.94573504e-02 9.99566035e-01 -7.87500445e-05 8.34495111e+00] [-5.10599897e-03 2.29257706e-04 9.99986938e-01 -1.99002858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters 0.06029151247438034 Centerline is valid? [True, True] Translation: X:326.59, Y:8.34, Z:-1.99 [[ 9.99380663e-01 -3.47794711e-02 5.35534569e-03 3.26588651e+02] [ 3.47804115e-02 9.99394975e-01 -8.25384601e-05 8.34489691e+00] [-5.34923493e-03 2.68748468e-04 9.99985657e-01 -1.99010465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters 0.059125381185303104 Centerline is valid? [True, True] Translation: X:326.65, Y:8.34, Z:-1.99 [[ 9.99235135e-01 -3.88369824e-02 4.56440677e-03 3.26648801e+02] [ 3.88377079e-02 9.99245529e-01 -7.03845446e-05 8.34201647e+00] [-4.55822953e-03 2.47601807e-04 9.99989581e-01 -1.99150677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters 0.05627373021952187 Centerline is valid? [True, True] Translation: X:326.71, Y:8.35, Z:-1.99 [[ 9.99223362e-01 -3.92218878e-02 3.78380209e-03 3.26710654e+02] [ 3.92223883e-02 9.99230504e-01 -5.81475804e-05 8.35359084e+00] [-3.77860982e-03 2.06512176e-04 9.99992840e-01 -1.99259642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46439141799993 meters 0.057543198402464475 Centerline is valid? [True, True] Translation: X:326.77, Y:8.35, Z:-1.99 [[ 9.99293828e-01 -3.74772868e-02 2.70156544e-03 3.26770219e+02] [ 3.74775368e-02 9.99297469e-01 -4.19809704e-05 8.34664693e+00] [-2.69809417e-03 1.43199343e-04 9.99996350e-01 -1.99414203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52439141799994 meters 0.057661333495267204 Centerline is valid? [True, True] Translation: X:326.83, Y:8.35, Z:-2.00 [[ 9.99377924e-01 -3.52480452e-02 1.15780091e-03 3.26831476e+02] [ 3.52480896e-02 9.99378593e-01 -1.79122007e-05 8.35047055e+00] [-1.15645008e-03 5.87113283e-05 9.99999330e-01 -1.99523892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58439141799994 meters 0.05804346506110825 Centerline is valid? [True, True] Translation: X:326.89, Y:8.34, Z:-2.00 [[ 9.99553916e-01 -2.98651495e-02 -2.06049689e-04 3.26891019e+02] [ 2.98651508e-02 9.99553937e-01 3.16297286e-06 8.34275418e+00] [ 2.05863315e-04 -9.31526694e-06 9.99999979e-01 -1.99746940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64439141799994 meters 0.05729606400448719 Centerline is valid? [True, True] Translation: X:326.95, Y:8.35, Z:-2.00 [[ 9.99678777e-01 -2.53234405e-02 1.03300274e-03 3.26951714e+02] [ 2.53234706e-02 9.99679309e-01 -1.60251207e-05 8.35441410e+00] [-1.03226565e-03 4.21791876e-05 9.99999466e-01 -1.99622526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70439141799994 meters 0.05764441904529478 Centerline is valid? [True, True] Translation: X:327.01, Y:8.36, Z:-2.00 [[ 9.99858381e-01 -1.66996411e-02 2.08349701e-03 3.27011559e+02] [ 1.66997449e-02 9.99860549e-01 -3.23946108e-05 8.35724086e+00] [-2.08266549e-03 6.71838917e-05 9.99997829e-01 -1.99638325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76439141799995 meters 0.057485683288837325 Centerline is valid? [True, True] Translation: X:327.07, Y:8.36, Z:-2.00 [[ 9.99945333e-01 -1.02574241e-02 2.02904007e-03 3.27072577e+02] [ 1.02575093e-02 9.99947390e-01 -3.15958510e-05 8.36034932e+00] [-2.02860923e-03 5.24070212e-05 9.99997941e-01 -1.99653459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82439141799995 meters 0.057099426629810525 Centerline is valid? [True, True] Translation: X:327.13, Y:8.37, Z:-2.00 [[ 9.99997280e-01 -7.70750893e-04 2.20120858e-03 3.27132735e+02] [ 7.70828138e-04 9.99999702e-01 -3.42437409e-05 8.36745122e+00] [-2.20118153e-03 3.59404013e-05 9.99997577e-01 -1.99656773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88439141799995 meters 0.05721913642220255 Centerline is valid? [True, True] Translation: X:327.19, Y:8.37, Z:-2.00 [[ 9.99966060e-01 7.64263413e-03 3.07714931e-03 3.27193772e+02] [-7.64252309e-03 9.99970794e-01 -4.78425959e-05 8.37467368e+00] [-3.07742508e-03 2.43237875e-05 9.99995264e-01 -1.99601020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94439141799995 meters 0.05736842040155996 Centerline is valid? [True, True] Translation: X:327.25, Y:8.38, Z:-2.00 [[ 9.99946529e-01 9.80895345e-03 3.27454263e-03 3.27253630e+02] [-9.80883903e-03 9.99951891e-01 -5.10011767e-05 8.37602136e+00] [-3.27488536e-03 1.88789881e-05 9.99994637e-01 -1.99612485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00439141799995 meters 0.057597467673012534 Centerline is valid? [True, True] Translation: X:327.31, Y:8.38, Z:-2.00 [[ 9.99899416e-01 1.39506191e-02 2.55705455e-03 3.27312467e+02] [-1.39505621e-02 9.99902685e-01 -4.01303917e-05 8.37866924e+00] [-2.55736556e-03 4.45400688e-06 9.99996730e-01 -1.99711571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06439141799996 meters 0.05634388130158214 Centerline is valid? [True, True] Translation: X:327.37, Y:8.38, Z:-2.00 [[ 9.99891030e-01 1.43910818e-02 3.29012620e-03 3.27371596e+02] [-1.43909923e-02 9.99896443e-01 -5.08785604e-05 8.37916814e+00] [-3.29051768e-03 3.52483545e-06 9.99994586e-01 -1.99665738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12439141799996 meters 0.0562865695520011 Centerline is valid? [True, True] Translation: X:327.43, Y:8.38, Z:-2.00 [[ 9.99911562e-01 1.27414371e-02 3.81094582e-03 3.27429031e+02] [-1.27413056e-02 9.99918825e-01 -5.87954810e-05 8.37726498e+00] [-3.81138560e-03 1.02338562e-05 9.99992737e-01 -1.99733000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18439141799996 meters 0.05684798882026903 Centerline is valid? [True, True] Translation: X:327.49, Y:8.37, Z:-2.00 [[ 9.99963237e-01 7.81535526e-03 3.52766161e-03 3.27488713e+02] [-7.81521280e-03 9.99969459e-01 -5.41674553e-05 8.37183566e+00] [-3.52797721e-03 2.65960378e-05 9.99993776e-01 -1.99805297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24439141799996 meters 0.05715748474947 Centerline is valid? [True, True] Translation: X:327.55, Y:8.37, Z:-2.00 [[ 9.99992054e-01 2.41967753e-03 3.16807156e-03 3.27548999e+02] [-2.41953553e-03 9.99997072e-01 -4.86560664e-05 8.36702994e+00] [-3.16818002e-03 4.09904181e-05 9.99994980e-01 -1.99941924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30439141799997 meters 0.058122400640347495 Centerline is valid? [True, True] Translation: X:327.61, Y:8.35, Z:-2.00 [[ 9.99969521e-01 -7.63645126e-03 1.62554314e-03 3.27608726e+02] [ 7.63650195e-03 9.99970841e-01 -2.49749826e-05 8.35474319e+00] [-1.62530502e-03 3.73876847e-05 9.99998678e-01 -2.00142679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36439141799997 meters 0.05845212484871827 Centerline is valid? [True, True] Translation: X:327.67, Y:8.35, Z:-2.00 [[ 9.99889803e-01 -1.47471885e-02 1.70362602e-03 3.27669263e+02] [ 1.47472544e-02 9.99891253e-01 -2.61430326e-05 8.34708087e+00] [-1.70305522e-03 5.12639580e-05 9.99998548e-01 -2.00220409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42439141799997 meters 0.061019051904347865 Centerline is valid? [True, True] Translation: X:327.73, Y:8.34, Z:-2.00 [[ 9.99718903e-01 -2.36473707e-02 1.70806255e-03 3.27729927e+02] [ 2.36474499e-02 9.99720360e-01 -2.62156522e-05 8.33601525e+00] [-1.70696497e-03 6.65996066e-05 9.99998541e-01 -2.00263712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters 0.05853524771599719 Centerline is valid? [True, True] Translation: X:327.79, Y:8.34, Z:-2.00 [[ 9.99549420e-01 -2.99091128e-02 2.53004325e-03 3.27790687e+02] [ 2.99093068e-02 9.99552616e-01 -3.88680559e-05 8.34282947e+00] [-2.52774884e-03 1.14522383e-04 9.99996799e-01 -2.00162932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters 0.05671469383912635 Centerline is valid? [True, True] Translation: X:327.85, Y:8.35, Z:-2.00 [[ 9.99452546e-01 -3.29072843e-02 3.42339827e-03 3.27850891e+02] [ 3.29076571e-02 9.99458395e-01 -5.26046962e-05 8.34987830e+00] [-3.41981306e-03 1.65231914e-04 9.99994139e-01 -2.00136371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters 0.05731677682272654 Centerline is valid? [True, True] Translation: X:327.91, Y:8.35, Z:-2.00 [[ 9.99324157e-01 -3.65797795e-02 3.62616292e-03 3.27912180e+02] [ 3.65802217e-02 9.99330718e-01 -5.56744356e-05 8.34797375e+00] [-3.62169944e-03 1.88282652e-04 9.99993424e-01 -2.00140257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters 0.056369687982853356 Centerline is valid? [True, True] Translation: X:327.97, Y:8.35, Z:-2.00 [[ 9.99213993e-01 -3.95064517e-02 3.26134213e-03 3.27973255e+02] [ 3.95068253e-02 9.99219299e-01 -5.01839010e-05 8.35455666e+00] [-3.25681341e-03 1.78989730e-04 9.99994681e-01 -2.00147225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters 0.06046473335417151 Centerline is valid? [True, True] Translation: X:328.03, Y:8.34, Z:-2.00 [[ 9.99148979e-01 -4.11794261e-02 2.36050659e-03 3.28033368e+02] [ 4.11796264e-02 9.99151759e-01 -3.62751565e-05 8.33887878e+00] [-2.35701052e-03 1.33449065e-04 9.99997213e-01 -2.00344542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters 0.05886251983900651 Centerline is valid? [True, True] Translation: X:328.09, Y:8.35, Z:-2.00 [[ 9.99086210e-01 -4.27365732e-02 5.75220470e-04 3.28094040e+02] [ 4.27365853e-02 9.99086375e-01 -8.84944213e-06 8.34732027e+00] [-5.74316739e-04 3.34243143e-05 9.99999835e-01 -2.00434160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters 0.07005009224066443 Centerline is valid? [True, True] Translation: X:328.15, Y:8.32, Z:-2.01 [[ 9.99160213e-01 -4.09715766e-02 -4.44864106e-04 3.28154180e+02] [ 4.09715837e-02 9.99160312e-01 6.90177688e-06 8.32186578e+00] [ 4.44207782e-04 -2.51227678e-05 9.99999901e-01 -2.00787329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters 0.05721000078151793 Centerline is valid? [True, True] Translation: X:328.22, Y:8.36, Z:-2.00 [[ 9.99415026e-01 -3.41430762e-02 1.96369117e-03 3.28215490e+02] [ 3.41432014e-02 9.99416950e-01 -3.02750868e-05 8.36286400e+00] [-1.96151256e-03 9.73040799e-05 9.99998071e-01 -2.00310435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96439141799993 meters 0.055142430585380146 Centerline is valid? [True, True] Translation: X:328.28, Y:8.38, Z:-2.00 [[ 9.99728634e-01 -2.28612371e-02 4.47461764e-03 3.28276452e+02] [ 2.28617745e-02 9.99738633e-01 -6.89818906e-05 8.37995435e+00] [-4.47187111e-03 1.71260871e-04 9.99989986e-01 -2.00085613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02439141799994 meters 0.055899987418396586 Centerline is valid? [True, True] Translation: X:328.34, Y:8.38, Z:-2.00 [[ 9.99868158e-01 -1.52638631e-02 5.53908645e-03 3.28336389e+02] [ 1.52645702e-02 9.99883486e-01 -8.53918111e-05 8.38328344e+00] [-5.53713766e-03 1.69932327e-04 9.99984655e-01 -2.00079338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08439141799994 meters 0.05602192788591704 Centerline is valid? [True, True] Translation: X:328.40, Y:8.39, Z:-2.00 [[ 9.99972874e-01 -5.22160338e-03 5.19485441e-03 3.28396285e+02] [ 5.22208966e-03 9.99986362e-01 -8.00478316e-05 8.38922167e+00] [-5.19436558e-03 1.07173656e-04 9.99986503e-01 -2.00174575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14439141799994 meters 0.05592666780186331 Centerline is valid? [True, True] Translation: X:328.46, Y:8.39, Z:-2.00 [[ 9.99986446e-01 1.60963571e-04 5.20394230e-03 3.28456415e+02] [-1.60548720e-04 9.99999984e-01 -8.01361252e-05 8.39370009e+00] [-5.20395511e-03 7.92995529e-05 9.99986456e-01 -2.00198973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20439141799994 meters 0.05532846859263241 Centerline is valid? [True, True] Translation: X:328.52, Y:8.40, Z:-2.00 [[ 9.99965252e-01 7.07363298e-03 4.41110603e-03 3.28517374e+02] [-7.07340205e-03 9.99974981e-01 -6.79527872e-05 8.40462827e+00] [-4.41147634e-03 3.67488996e-05 9.99990269e-01 -2.00197931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26439141799995 meters 0.05518627938751359 Centerline is valid? [True, True] Translation: X:328.58, Y:8.41, Z:-2.00 [[ 9.99908439e-01 1.31712002e-02 3.10383426e-03 3.28577062e+02] [-1.31711151e-02 9.99913256e-01 -4.78732453e-05 8.40773696e+00] [-3.10419557e-03 6.98790378e-06 9.99995182e-01 -2.00445695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32439141799995 meters 0.055896869724108345 Centerline is valid? [True, True] Translation: X:328.63, Y:8.41, Z:-2.01 [[ 9.99836537e-01 1.79043422e-02 2.51673238e-03 3.28634206e+02] [-1.79043002e-02 9.99839704e-01 -3.92082316e-05 8.41277825e+00] [-2.51703096e-03 -5.85850961e-06 9.99996832e-01 -2.00600056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38439141799995 meters 0.056316006108424736 Centerline is valid? [True, True] Translation: X:328.69, Y:8.41, Z:-2.00 [[ 9.99806593e-01 1.93978932e-02 3.24020765e-03 3.28693210e+02] [-1.93978342e-02 9.99811843e-01 -4.96196670e-05 8.41291980e+00] [-3.24056050e-03 -1.32429408e-05 9.99994749e-01 -2.00475407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44439141799995 meters 0.055551057392184855 Centerline is valid? [True, True] Translation: X:328.75, Y:8.41, Z:-2.00 [[ 9.99828615e-01 1.80971244e-02 3.90327922e-03 3.28750992e+02] [-1.80970296e-02 9.99836234e-01 -5.96183145e-05 8.41326051e+00] [-3.90371891e-03 -1.10296626e-05 9.99992380e-01 -2.00429710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50439141799995 meters 0.05595886435784818 Centerline is valid? [True, True] Translation: X:328.81, Y:8.41, Z:-2.00 [[ 9.99887400e-01 1.42666666e-02 4.65281508e-03 3.28809385e+02] [-1.42664916e-02 9.99898226e-01 -7.08117948e-05 8.40985117e+00] [-4.65335179e-03 4.42447424e-06 9.99989173e-01 -2.00464560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56439141799996 meters 0.05557010914601116 Centerline is valid? [True, True] Translation: X:328.87, Y:8.40, Z:-2.01 [[ 9.99982227e-01 4.55243919e-03 3.84977532e-03 3.28868659e+02] [-4.55224792e-03 9.99989637e-01 -5.84441929e-05 8.39998704e+00] [-3.85000149e-03 4.09180225e-05 9.99992588e-01 -2.00631295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62439141799996 meters 0.054961835073572524 Centerline is valid? [True, True] Translation: X:328.93, Y:8.40, Z:-2.01 [[ 9.99985295e-01 -3.63113654e-03 4.02794630e-03 3.28929611e+02] [ 3.63141207e-03 9.99993405e-01 -6.10945133e-05 8.39637417e+00] [-4.02769789e-03 7.57207477e-05 9.99991886e-01 -2.00652226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68439141799996 meters 0.05601230148007578 Centerline is valid? [True, True] Translation: X:328.99, Y:8.38, Z:-2.01 [[ 9.99879749e-01 -1.48938638e-02 4.31979034e-03 3.28989184e+02] [ 1.48942858e-02 9.99889072e-01 -6.55272633e-05 8.38064235e+00] [-4.31833520e-03 1.29859576e-04 9.99990668e-01 -2.00744481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74439141799996 meters 0.0565960158319379 Centerline is valid? [True, True] Translation: X:329.05, Y:8.38, Z:-2.01 [[ 9.99702053e-01 -2.40289461e-02 4.29129926e-03 3.29049538e+02] [ 2.40294466e-02 9.99711249e-01 -6.51070863e-05 8.37506575e+00] [-4.28849569e-03 1.68205234e-04 9.99990790e-01 -2.00777063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80439141799997 meters 0.05625262410249516 Centerline is valid? [True, True] Translation: X:329.11, Y:8.37, Z:-2.01 [[ 9.99573840e-01 -2.89386047e-02 3.83344408e-03 3.29108991e+02] [ 2.89390401e-02 9.99581177e-01 -5.81399667e-05 8.36998337e+00] [-3.83015605e-03 1.69051382e-04 9.99992651e-01 -2.00929642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86439141799997 meters 0.05459939688796714 Centerline is valid? [True, True] Translation: X:329.17, Y:8.37, Z:-2.01 [[ 9.99458225e-01 -3.26872423e-02 3.84729012e-03 3.29169635e+02] [ 3.26877087e-02 9.99465612e-01 -5.83976072e-05 8.37460513e+00] [-3.84332532e-03 1.84125068e-04 9.99992597e-01 -2.00972911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92439141799997 meters 0.05355216028369224 Centerline is valid? [True, True] Translation: X:329.23, Y:8.38, Z:-2.01 [[ 9.99368290e-01 -3.53100359e-02 4.02763231e-03 3.29230590e+02] [ 3.53105686e-02 9.99376386e-01 -6.12177590e-05 8.37791890e+00] [-4.02295902e-03 2.03397074e-04 9.99991887e-01 -2.01025593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters 0.05623994843090687 Centerline is valid? [True, True] Translation: X:329.29, Y:8.36, Z:-2.01 [[ 9.99315206e-01 -3.68816141e-02 2.97736018e-03 3.29290523e+02] [ 3.68819123e-02 9.99319630e-01 -4.52972511e-05 8.36289888e+00] [-2.97366383e-03 1.55076969e-04 9.99995567e-01 -2.01185678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters 0.054217881816301036 Centerline is valid? [True, True] Translation: X:329.35, Y:8.37, Z:-2.01 [[ 9.99270733e-01 -3.80419264e-02 3.28847454e-03 3.29351926e+02] [ 3.80422962e-02 9.99276129e-01 -4.99650608e-05 8.37019185e+00] [-3.28419334e-03 1.75029746e-04 9.99994592e-01 -2.01181233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters 0.06262925083545375 Centerline is valid? [True, True] Translation: X:329.41, Y:8.34, Z:-2.01 [[ 9.99276250e-01 -3.79926380e-02 1.88029582e-03 3.29412208e+02] [ 3.79927583e-02 9.99278014e-01 -2.82865894e-05 8.34096669e+00] [-1.87786359e-03 9.97037415e-05 9.99998232e-01 -2.01429783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters 0.06500777105043892 Centerline is valid? [True, True] Translation: X:329.47, Y:8.34, Z:-2.02 [[ 9.99301628e-01 -3.73457027e-02 1.24658873e-03 3.29474815e+02] [ 3.73457553e-02 9.99302404e-01 -1.89293805e-05 8.33552925e+00] [-1.24501219e-03 6.54709585e-05 9.99999223e-01 -2.01590260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters 0.0634635557487368 Centerline is valid? [True, True] Translation: X:329.54, Y:8.34, Z:-2.02 [[ 9.99345060e-01 -3.61521342e-02 1.57328354e-03 3.29536526e+02] [ 3.61522168e-02 9.99346295e-01 -2.40289166e-05 8.33944826e+00] [-1.57138638e-03 8.08908667e-05 9.99998762e-01 -2.01529201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters 0.054293994783856964 Centerline is valid? [True, True] Translation: X:329.60, Y:8.37, Z:-2.01 [[ 9.99375810e-01 -3.51988686e-02 3.00494351e-03 3.29599019e+02] [ 3.51991661e-02 9.99380316e-01 -4.61655187e-05 8.37464436e+00] [-3.00145642e-03 1.51908209e-04 9.99995484e-01 -2.01256149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters 0.05761149829471285 Centerline is valid? [True, True] Translation: X:329.66, Y:8.36, Z:-2.01 [[ 9.99399067e-01 -3.45217814e-02 3.12280128e-03 3.29659685e+02] [ 3.45220991e-02 9.99403934e-01 -4.78764091e-05 8.35680103e+00] [-3.11928711e-03 1.55653294e-04 9.99995123e-01 -2.01342230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters 0.056177551364497695 Centerline is valid? [True, True] Translation: X:329.72, Y:8.36, Z:-2.01 [[ 9.99395751e-01 -3.45493559e-02 3.80456441e-03 3.29723058e+02] [ 3.45498302e-02 9.99402975e-01 -5.89836651e-05 8.36497946e+00] [-3.80025514e-03 1.90395079e-04 9.99992761e-01 -2.01359430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46439141799993 meters 0.05431908862057922 Centerline is valid? [True, True] Translation: X:329.78, Y:8.38, Z:-2.01 [[ 9.99434955e-01 -3.32563851e-02 4.87686711e-03 3.29784604e+02] [ 3.32571507e-02 9.99446825e-01 -7.59411123e-05 8.37671142e+00] [-4.87164382e-03 2.38088906e-04 9.99988105e-01 -2.01343951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52439141799994 meters 0.05399394874498312 Centerline is valid? [True, True] Translation: X:329.85, Y:8.38, Z:-2.01 [[ 9.99496106e-01 -3.13391124e-02 5.03922897e-03 3.29845946e+02] [ 3.13399059e-02 9.99508781e-01 -7.85590418e-05 8.38004309e+00] [-5.03429164e-03 2.36448418e-04 9.99987300e-01 -2.01395448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58439141799994 meters 0.05599444366964717 Centerline is valid? [True, True] Translation: X:329.91, Y:8.37, Z:-2.02 [[ 9.99597256e-01 -2.80733949e-02 4.14863185e-03 3.29905862e+02] [ 2.80739048e-02 9.99605848e-01 -6.47268180e-05 8.37058182e+00] [-4.14517955e-03 1.81169045e-04 9.99991392e-01 -2.01529809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64439141799994 meters 0.0535127092714146 Centerline is valid? [True, True] Translation: X:329.97, Y:8.39, Z:-2.02 [[ 9.99640706e-01 -2.64262624e-02 4.48457659e-03 3.29967781e+02] [ 2.64268416e-02 9.99650748e-01 -6.99309913e-05 8.38694654e+00] [-4.48116232e-03 1.88419060e-04 9.99989942e-01 -2.01556206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70439141799994 meters 0.054580697101646106 Centerline is valid? [True, True] Translation: X:330.03, Y:8.38, Z:-2.02 [[ 9.99687697e-01 -2.46215086e-02 4.27660887e-03 3.30028054e+02] [ 2.46220193e-02 9.99696830e-01 -6.68000385e-05 8.38082018e+00] [-4.27366762e-03 1.72077923e-04 9.99990853e-01 -2.01636195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76439141799995 meters 0.05405260986376247 Centerline is valid? [True, True] Translation: X:330.09, Y:8.39, Z:-2.02 [[ 9.99707636e-01 -2.38225028e-02 4.13885276e-03 3.30090803e+02] [ 2.38229744e-02 9.99716191e-01 -6.46651792e-05 8.38548179e+00] [-4.13613763e-03 1.63246057e-04 9.99991433e-01 -2.01679921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82439141799995 meters 0.05469922241319399 Centerline is valid? [True, True] Translation: X:330.15, Y:8.38, Z:-2.02 [[ 9.99697156e-01 -2.41380460e-02 4.79069210e-03 3.30151710e+02] [ 2.41386824e-02 9.99708617e-01 -7.50557210e-05 8.37754207e+00] [-4.78748447e-03 1.90673986e-04 9.99988522e-01 -2.01709995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88439141799995 meters 0.05710632411118842 Centerline is valid? [True, True] Translation: X:330.21, Y:8.37, Z:-2.02 [[ 9.99664875e-01 -2.54549609e-02 4.70995802e-03 3.30211579e+02] [ 2.54555923e-02 9.99675951e-01 -7.41494124e-05 8.36796295e+00] [-4.70654429e-03 1.94019334e-04 9.99988905e-01 -2.01801071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94439141799995 meters 0.05314226273556522 Centerline is valid? [True, True] Translation: X:330.27, Y:8.39, Z:-2.02 [[ 9.99552385e-01 -2.95975949e-02 4.36020378e-03 3.30272771e+02] [ 2.95981753e-02 9.99561876e-01 -6.86214185e-05 8.38689747e+00] [-4.35626244e-03 1.97644778e-04 9.99990492e-01 -2.01858606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00439141799995 meters 0.05463019547567048 Centerline is valid? [True, True] Translation: X:330.33, Y:8.38, Z:-2.02 [[ 9.99455549e-01 -3.27916298e-02 3.64891359e-03 3.30332695e+02] [ 3.27920576e-02 9.99462194e-01 -5.74500442e-05 8.37826847e+00] [-3.64506730e-03 1.77074150e-04 9.99993341e-01 -2.02002291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06439141799996 meters 0.053431515941603384 Centerline is valid? [True, True] Translation: X:330.39, Y:8.38, Z:-2.02 [[ 9.99413192e-01 -3.40858580e-02 3.38036082e-03 3.30393436e+02] [ 3.40862328e-02 9.99418894e-01 -5.33031323e-05 8.38256643e+00] [-3.37657958e-03 1.68495619e-04 9.99994285e-01 -2.02104042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12439141799996 meters 0.054394846608209126 Centerline is valid? [True, True] Translation: X:330.46, Y:8.38, Z:-2.02 [[ 9.99420421e-01 -3.39252183e-02 2.81091656e-03 3.30455416e+02] [ 3.39254759e-02 9.99424364e-01 -4.39932522e-05 8.37901700e+00] [-2.80780601e-03 1.39329436e-04 9.99996048e-01 -2.02183112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18439141799996 meters 0.05715609524612065 Centerline is valid? [True, True] Translation: X:330.52, Y:8.37, Z:-2.02 [[ 9.99457242e-01 -3.28318379e-02 2.70042361e-03 3.30515755e+02] [ 3.28320733e-02 9.99460881e-01 -4.29052310e-05 8.36797762e+00] [-2.69755911e-03 1.31542450e-04 9.99996353e-01 -2.02281712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24439141799996 meters 0.057665696070211284 Centerline is valid? [True, True] Translation: X:330.58, Y:8.37, Z:-2.02 [[ 9.99479008e-01 -3.21990102e-02 2.22192968e-03 3.30578462e+02] [ 3.21991678e-02 9.99481472e-01 -3.52034984e-05 8.36757835e+00] [-2.21964403e-03 1.06729444e-04 9.99997531e-01 -2.02377687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30439141799997 meters 0.05566542544295603 Centerline is valid? [True, True] Translation: X:330.64, Y:8.38, Z:-2.02 [[ 9.99498496e-01 -3.15311763e-02 2.92269753e-03 3.30640772e+02] [ 3.15314466e-02 9.99502759e-01 -4.64214334e-05 8.37561086e+00] [-2.91978052e-03 1.38555034e-04 9.99995728e-01 -2.02362146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36439141799997 meters 0.05473141587874306 Centerline is valid? [True, True] Translation: X:330.70, Y:8.38, Z:-2.02 [[ 9.99530588e-01 -3.05307119e-02 2.54556208e-03 3.30702534e+02] [ 3.05309142e-02 9.99533822e-01 -4.06409918e-05 8.38032969e+00] [-2.54313460e-03 1.18340252e-04 9.99996759e-01 -2.02321288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42439141799997 meters 0.052819654911176066 Centerline is valid? [True, True] Translation: X:330.76, Y:8.40, Z:-2.02 [[ 9.99535195e-01 -3.03672104e-02 2.68827326e-03 3.30764611e+02] [ 3.03674355e-02 9.99538802e-01 -4.29534910e-05 8.39592995e+00] [-2.68572905e-03 1.24569491e-04 9.99996386e-01 -2.02258101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters 0.05351699953900003 Centerline is valid? [True, True] Translation: X:330.82, Y:8.39, Z:-2.02 [[ 9.99587482e-01 -2.85902966e-02 2.73136507e-03 3.30824516e+02] [ 2.85905229e-02 9.99591207e-01 -4.38404734e-05 8.38905817e+00] [-2.72899509e-03 1.21913544e-04 9.99996269e-01 -2.02367593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters 0.05476303026923728 Centerline is valid? [True, True] Translation: X:330.89, Y:8.38, Z:-2.02 [[ 9.99630029e-01 -2.70271082e-02 3.05631325e-03 3.30885238e+02] [ 2.70273841e-02 9.99634692e-01 -4.90107505e-05 8.38478776e+00] [-3.05387213e-03 1.31596770e-04 9.99995328e-01 -2.02402117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters 0.05522441124791503 Centerline is valid? [True, True] Translation: X:330.94, Y:8.38, Z:-2.02 [[ 9.99677651e-01 -2.51796656e-02 3.25240396e-03 3.30944636e+02] [ 2.51799687e-02 9.99682933e-01 -5.22742624e-05 8.38205521e+00] [-3.25005648e-03 1.34152842e-04 9.99994710e-01 -2.02352378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters 0.05356829027752516 Centerline is valid? [True, True] Translation: X:331.01, Y:8.39, Z:-2.02 [[ 9.99687455e-01 -2.48660924e-02 2.58264038e-03 3.31006614e+02] [ 2.48662820e-02 9.99690785e-01 -4.13402975e-05 8.38790988e+00] [-2.58081382e-03 1.05548041e-04 9.99996664e-01 -2.02371235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters 0.053347927778432225 Centerline is valid? [True, True] Translation: X:331.07, Y:8.39, Z:-2.02 [[ 9.99656658e-01 -2.60632778e-02 2.69654735e-03 3.31068430e+02] [ 2.60634887e-02 9.99660289e-01 -4.30703818e-05 8.38569182e+00] [-2.69450875e-03 1.13337025e-04 9.99996363e-01 -2.02435234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters 0.05324070213170314 Centerline is valid? [True, True] Translation: X:331.13, Y:8.39, Z:-2.02 [[ 9.99636929e-01 -2.67646538e-02 3.10848080e-03 3.31130992e+02] [ 2.67649392e-02 9.99641754e-01 -5.02606159e-05 8.38786600e+00] [-3.10602199e-03 1.33440667e-04 9.99995167e-01 -2.02466022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters 0.05603685257480963 Centerline is valid? [True, True] Translation: X:331.19, Y:8.37, Z:-2.03 [[ 9.99638787e-01 -2.66992801e-02 3.07318772e-03 3.31192598e+02] [ 2.66995583e-02 9.99643502e-01 -4.95290874e-05 8.37008877e+00] [-3.07076974e-03 1.31563951e-04 9.99995277e-01 -2.02572989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters 0.05624619159181858 Centerline is valid? [True, True] Translation: X:331.25, Y:8.37, Z:-2.03 [[ 9.99605844e-01 -2.77272174e-02 4.39984799e-03 3.31254683e+02] [ 2.77278019e-02 9.99615508e-01 -7.18913880e-05 8.36797367e+00] [-4.39616294e-03 1.93861165e-04 9.99990318e-01 -2.02530896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96439141799993 meters 0.055306447281570255 Centerline is valid? [True, True] Translation: X:331.32, Y:8.37, Z:-2.03 [[ 9.99572687e-01 -2.86890106e-02 5.60207816e-03 3.31316968e+02] [ 2.86899744e-02 9.99588354e-01 -9.17486672e-05 8.36778604e+00] [-5.59713991e-03 2.52432941e-04 9.99984304e-01 -2.02502967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02439141799994 meters 0.05700529739706283 Centerline is valid? [True, True] Translation: X:331.38, Y:8.36, Z:-2.03 [[ 9.99498100e-01 -3.13104913e-02 4.81673216e-03 3.31377052e+02] [ 3.13112349e-02 9.99509680e-01 -7.90371498e-05 8.35790699e+00] [-4.81189573e-03 2.29815313e-04 9.99988396e-01 -2.02536012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08439141799994 meters 0.05607735688205449 Centerline is valid? [True, True] Translation: X:331.44, Y:8.36, Z:-2.03 [[ 9.99450287e-01 -3.28439436e-02 4.51653543e-03 3.31437726e+02] [ 3.28446131e-02 9.99460467e-01 -7.41071820e-05 8.35929955e+00] [-4.51166464e-03 2.22410303e-04 9.99989798e-01 -2.02607678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14439141799994 meters 0.05650341867983273 Centerline is valid? [True, True] Translation: X:331.50, Y:8.35, Z:-2.03 [[ 9.99446136e-01 -3.29489331e-02 4.66780612e-03 3.31499515e+02] [ 3.29496493e-02 9.99457010e-01 -7.65850653e-05 8.35324038e+00] [-4.66274815e-03 2.30345222e-04 9.99989103e-01 -2.02678716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20439141799994 meters 0.059133675871517785 Centerline is valid? [True, True] Translation: X:331.56, Y:8.34, Z:-2.03 [[ 9.99484089e-01 -3.18212645e-02 4.35466717e-03 3.31560601e+02] [ 3.18218779e-02 9.99493553e-01 -7.16259218e-05 8.34482742e+00] [-4.35018254e-03 2.10162656e-04 9.99990516e-01 -2.02720384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26439141799995 meters 0.0538484782404387 Centerline is valid? [True, True] Translation: X:331.62, Y:8.37, Z:-2.03 [[ 9.99561375e-01 -2.92568042e-02 4.59321549e-03 3.31621082e+02] [ 2.92574601e-02 9.99571906e-01 -7.56404787e-05 8.36509537e+00] [-4.58903616e-03 2.09993120e-04 9.99989448e-01 -2.02649926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32439141799995 meters 0.05768080705259244 Centerline is valid? [True, True] Translation: X:331.68, Y:8.34, Z:-2.03 [[ 9.99695399e-01 -2.42198164e-02 4.74447281e-03 3.31680428e+02] [ 2.42204595e-02 9.99706639e-01 -7.81305559e-05 8.34442127e+00] [-4.74118865e-03 1.93020069e-04 9.99988742e-01 -2.02690414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38439141799995 meters 0.05359499747779295 Centerline is valid? [True, True] Translation: X:331.74, Y:8.36, Z:-2.03 [[ 9.99779744e-01 -2.02572775e-02 5.48690390e-03 3.31740983e+02] [ 2.02580783e-02 9.99794780e-01 -9.03980056e-05 8.35584489e+00] [-5.48394666e-03 2.01532224e-04 9.99984943e-01 -2.02641365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44439141799995 meters 0.05487295890390209 Centerline is valid? [True, True] Translation: X:331.80, Y:8.35, Z:-2.03 [[ 9.99907022e-01 -1.26275931e-02 5.14692422e-03 3.31800792e+02] [ 1.26281968e-02 9.99920258e-01 -8.48158239e-05 8.35299249e+00] [-5.14544278e-03 1.49804310e-04 9.99986751e-01 -2.02657951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50439141799995 meters 0.054770218402449 Centerline is valid? [True, True] Translation: X:331.86, Y:8.36, Z:-2.03 [[ 9.99976042e-01 -5.55780339e-03 4.12630966e-03 3.31861244e+02] [ 5.55813108e-03 9.99984551e-01 -6.79516315e-05 8.36054283e+00] [-4.12586825e-03 9.08845735e-05 9.99991484e-01 -2.02766404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56439141799996 meters 0.05436533173112543 Centerline is valid? [True, True] Translation: X:331.92, Y:8.36, Z:-2.03 [[ 9.99990878e-01 -1.55351414e-03 3.97883287e-03 3.31922453e+02] [ 1.55378720e-03 9.99998791e-01 -6.55355419e-05 8.36227341e+00] [-3.97872625e-03 7.17172036e-05 9.99992082e-01 -2.02714444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62439141799996 meters 0.05468331559870032 Centerline is valid? [True, True] Translation: X:331.98, Y:8.36, Z:-2.03 [[ 9.99987655e-01 3.21328244e-03 3.79002350e-03 3.31982544e+02] [-3.21306881e-03 9.99994836e-01 -6.24549385e-05 8.36013187e+00] [-3.79020461e-03 5.02765612e-05 9.99992816e-01 -2.02594592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68439141799996 meters 0.05578006698923271 Centerline is valid? [True, True] Translation: X:332.04, Y:8.36, Z:-2.02 [[ 9.99974660e-01 5.77200861e-03 4.16699129e-03 3.32043695e+02] [-5.77177248e-03 9.99983341e-01 -6.86901694e-05 8.36145589e+00] [-4.16731836e-03 4.46375031e-05 9.99991316e-01 -2.02444539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74439141799996 meters 0.05514659979573608 Centerline is valid? [True, True] Translation: X:332.10, Y:8.36, Z:-2.02 [[ 9.99953807e-01 8.06767057e-03 5.22464715e-03 3.32103520e+02] [-8.06733003e-03 9.99967455e-01 -8.62505098e-05 8.36154533e+00] [-5.22517295e-03 4.40975728e-05 9.99986348e-01 -2.02246999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80439141799997 meters 0.055283699552921776 Centerline is valid? [True, True] Translation: X:332.16, Y:8.36, Z:-2.02 [[ 9.99964640e-01 6.44749464e-03 5.39885474e-03 3.32163002e+02] [-6.44710764e-03 9.99979213e-01 -8.90824313e-05 8.35857301e+00] [-5.39931687e-03 5.42722838e-05 9.99985422e-01 -2.02165296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86439141799997 meters 0.055345643687214535 Centerline is valid? [True, True] Translation: X:332.22, Y:8.35, Z:-2.02 [[ 9.99986050e-01 3.10709840e-03 4.27145932e-03 3.32223379e+02] [-3.10682590e-03 9.99995171e-01 -7.04295526e-05 8.35145080e+00] [-4.27165753e-03 5.71578896e-05 9.99990875e-01 -2.02223868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92439141799997 meters 0.05631343686608398 Centerline is valid? [True, True] Translation: X:332.28, Y:8.34, Z:-2.03 [[ 9.99990983e-01 -3.78090699e-03 1.93331638e-03 3.32283826e+02] [ 3.78097570e-03 9.99992852e-01 -3.18909723e-05 8.33898989e+00] [-1.93318198e-03 3.92005070e-05 9.99998131e-01 -2.02595085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters 0.05500758191965267 Centerline is valid? [True, True] Translation: X:332.34, Y:8.34, Z:-2.03 [[ 9.99954291e-01 -9.54614012e-03 5.36480431e-04 3.32344249e+02] [ 9.54614624e-03 9.99954434e-01 -8.85012096e-06 8.34370507e+00] [-5.36371502e-04 1.39710371e-05 9.99999856e-01 -2.02753934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters 0.05510735689306641 Centerline is valid? [True, True] Translation: X:332.41, Y:8.34, Z:-2.03 [[ 9.99943687e-01 -1.06113788e-02 1.47707382e-04 3.32406245e+02] [ 1.06113792e-02 9.99943698e-01 -2.20394107e-06 8.33809874e+00] [-1.47675679e-04 3.77119600e-06 9.99999989e-01 -2.03142182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters 0.05460419416884707 Centerline is valid? [True, True] Translation: X:332.47, Y:8.34, Z:-2.03 [[ 9.99961293e-01 -8.77939211e-03 5.78565408e-04 3.32468072e+02] [ 8.77939904e-03 9.99961460e-01 -9.44014011e-06 8.34011051e+00] [-5.78460232e-04 1.45192313e-05 9.99999833e-01 -2.03213629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters 0.055287418206398965 Centerline is valid? [True, True] Translation: X:332.53, Y:8.33, Z:-2.03 [[ 9.99987616e-01 -4.76360620e-03 1.44098187e-03 3.32527347e+02] [ 4.76364559e-03 9.99988654e-01 -2.39064988e-05 8.33212909e+00] [-1.44085164e-03 3.07705297e-05 9.99998961e-01 -2.03498378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters 0.05480849380265565 Centerline is valid? [True, True] Translation: X:332.59, Y:8.33, Z:-2.03 [[ 9.99994342e-01 -1.89206400e-03 2.78135051e-03 3.32588465e+02] [ 1.89219926e-03 9.99998209e-01 -4.60013776e-05 8.33450468e+00] [-2.78125849e-03 5.12639867e-05 9.99996131e-01 -2.03458273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters 0.05544468985765762 Centerline is valid? [True, True] Translation: X:332.65, Y:8.33, Z:-2.04 [[ 9.99993963e-01 -6.94798679e-04 3.40450190e-03 3.32649429e+02] [ 6.94994586e-04 9.99999757e-01 -5.63607639e-05 8.32857445e+00] [-3.40446191e-03 5.87265341e-05 9.99994203e-01 -2.03509156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters 0.05490156993302449 Centerline is valid? [True, True] Translation: X:332.71, Y:8.33, Z:-2.03 [[ 9.99990866e-01 -9.32112534e-04 4.17130809e-03 3.32711507e+02] [ 9.32408584e-04 9.99999563e-01 -6.90290024e-05 8.33295411e+00] [-4.17124193e-03 7.29177353e-05 9.99991298e-01 -2.03267755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters 0.05455291748735577 Centerline is valid? [True, True] Translation: X:332.77, Y:8.34, Z:-2.03 [[ 9.99985987e-01 -2.44801099e-03 4.69402482e-03 3.32773163e+02] [ 2.44840558e-03 9.99997000e-01 -7.83173880e-05 8.33548891e+00] [-4.69381901e-03 8.98091671e-05 9.99988980e-01 -2.03178414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46439141799993 meters 0.054305530165257916 Centerline is valid? [True, True] Translation: X:332.83, Y:8.33, Z:-2.03 [[ 9.99980701e-01 -4.64239449e-03 4.12861824e-03 3.32834196e+02] [ 4.64271891e-03 9.99989220e-01 -6.89978493e-05 8.33309110e+00] [-4.12825342e-03 8.81645317e-05 9.99991475e-01 -2.03067406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52439141799994 meters 0.05528187481386961 Centerline is valid? [True, True] Translation: X:332.90, Y:8.33, Z:-2.03 [[ 9.99972061e-01 -6.81503286e-03 3.07119218e-03 3.32895730e+02] [ 6.81522388e-03 9.99976775e-01 -5.17342535e-05 8.33188844e+00] [-3.07076828e-03 7.26636704e-05 9.99995283e-01 -2.03038402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58439141799994 meters 0.05622760544939056 Centerline is valid? [True, True] Translation: X:332.96, Y:8.33, Z:-2.03 [[ 9.99943152e-01 -1.05921249e-02 1.22488170e-03 3.32955323e+02] [ 1.05921581e-02 9.99943901e-01 -2.06977666e-05 8.32743413e+00] [-1.22459375e-03 3.36707306e-05 9.99999250e-01 -2.03217179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64439141799994 meters 0.05569724048112767 Centerline is valid? [True, True] Translation: X:333.02, Y:8.33, Z:-2.03 [[ 9.99908813e-01 -1.35018117e-02 2.59137118e-04 3.33016419e+02] [ 1.35018133e-02 9.99908846e-01 -4.32738244e-06 8.33152943e+00] [-2.59055069e-04 7.82580882e-06 9.99999966e-01 -2.03322224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70439141799994 meters 0.055265570818513236 Centerline is valid? [True, True] Translation: X:333.08, Y:8.33, Z:-2.03 [[ 9.99901519e-01 -1.40337424e-02 -8.47469384e-05 3.33078618e+02] [ 1.40337426e-02 9.99901522e-01 1.62200810e-06 8.33472280e+00] [ 8.47158297e-05 -2.81116508e-06 9.99999996e-01 -2.03333702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76439141799995 meters 0.05486944463533927 Centerline is valid? [True, True] Translation: X:333.14, Y:8.34, Z:-2.03 [[ 9.99889229e-01 -1.48736997e-02 -5.50955516e-04 3.33140739e+02] [ 1.48737072e-02 9.99889380e-01 9.52093853e-06 8.33604681e+00] [ 5.50752958e-04 -1.77146349e-05 9.99999848e-01 -2.03400468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82439141799995 meters 0.05477523756364891 Centerline is valid? [True, True] Translation: X:333.20, Y:8.33, Z:-2.04 [[ 9.99889189e-01 -1.48682615e-02 -7.37438875e-04 3.33201771e+02] [ 1.48682749e-02 9.99889461e-01 1.27015236e-05 8.33281343e+00] [ 7.37168509e-04 -2.36645600e-05 9.99999728e-01 -2.03564251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88439141799995 meters 0.05450356713307759 Centerline is valid? [True, True] Translation: X:333.26, Y:8.33, Z:-2.04 [[ 9.99886735e-01 -1.50484903e-02 2.45776499e-04 3.33263524e+02] [ 1.50484917e-02 9.99886765e-01 -3.99275225e-06 8.33452746e+00] [-2.45688583e-04 7.69086562e-06 9.99999970e-01 -2.03519669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94439141799995 meters 0.0538976853688407 Centerline is valid? [True, True] Translation: X:333.33, Y:8.34, Z:-2.03 [[ 9.99899643e-01 -1.41111142e-02 1.25726332e-03 3.33325703e+02] [ 1.41111520e-02 9.99900433e-01 -2.12250008e-05 8.34001321e+00] [-1.25683863e-03 3.89643046e-05 9.99999209e-01 -2.03346359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00439141799995 meters 0.0535190499634221 Centerline is valid? [True, True] Translation: X:333.39, Y:8.34, Z:-2.03 [[ 9.99928920e-01 -1.17709973e-02 1.89703055e-03 3.33387459e+02] [ 1.17710796e-02 9.99930718e-01 -3.22148381e-05 8.34270582e+00] [-1.89651992e-03 5.45426458e-05 9.99998200e-01 -2.03227481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06439141799996 meters 0.053729011957067516 Centerline is valid? [True, True] Translation: X:333.45, Y:8.35, Z:-2.03 [[ 9.99979430e-01 -5.91178162e-03 2.48801983e-03 3.33448545e+02] [ 5.91190542e-03 9.99982524e-01 -4.24090778e-05 8.34682082e+00] [-2.48772564e-03 5.71171434e-05 9.99996904e-01 -2.03152583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12439141799996 meters 0.05506625116726212 Centerline is valid? [True, True] Translation: X:333.51, Y:8.34, Z:-2.03 [[ 9.99998129e-01 4.06993936e-04 1.89110142e-03 3.33508085e+02] [-4.06933646e-04 9.99999917e-01 -3.22651849e-05 8.34312092e+00] [-1.89111440e-03 3.14955717e-05 9.99998211e-01 -2.03358502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18439141799996 meters 0.05457974849120448 Centerline is valid? [True, True] Translation: X:333.57, Y:8.35, Z:-2.03 [[ 9.99993732e-01 3.46243108e-03 7.39556977e-04 3.33569403e+02] [-3.46242275e-03 9.99994006e-01 -1.25411762e-05 8.34774818e+00] [-7.39595967e-04 9.98043873e-06 9.99999726e-01 -2.03494513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24439141799996 meters 0.055150592119206636 Centerline is valid? [True, True] Translation: X:333.63, Y:8.35, Z:-2.04 [[ 9.99981682e-01 5.85153291e-03 -1.54749074e-03 3.33629599e+02] [-5.85149910e-03 9.99982880e-01 2.63712359e-05 8.35271425e+00] [ 1.54761855e-03 -1.73156122e-05 9.99998802e-01 -2.03627455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30439141799997 meters 0.053959299371438625 Centerline is valid? [True, True] Translation: X:333.69, Y:8.35, Z:-2.04 [[ 9.99980799e-01 5.63243546e-03 -2.58402691e-03 3.33688112e+02] [-5.63234098e-03 9.99984137e-01 4.38401999e-05 8.35146245e+00] [ 2.58423285e-03 -2.92852375e-05 9.99996660e-01 -2.03805520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36439141799997 meters 0.0537985955454917 Centerline is valid? [True, True] Translation: X:333.75, Y:8.35, Z:-2.04 [[ 9.99984295e-01 5.22355295e-03 -2.03059413e-03 3.33745946e+02] [-5.22349411e-03 9.99986357e-01 3.42829973e-05 8.34966442e+00] [ 2.03074550e-03 -2.36756624e-05 9.99997938e-01 -2.03830835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42439141799997 meters 0.05455797016374673 Centerline is valid? [True, True] Translation: X:333.80, Y:8.35, Z:-2.04 [[ 9.99981413e-01 5.94214765e-03 -1.36521553e-03 3.33804995e+02] [-5.94212253e-03 9.99982345e-01 2.24567790e-05 8.34610847e+00] [ 1.36532487e-03 -1.43440837e-05 9.99999068e-01 -2.03957218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters 0.054073908233924634 Centerline is valid? [True, True] Translation: X:333.86, Y:8.35, Z:-2.04 [[ 9.99987799e-01 4.93401807e-03 -2.39023632e-04 3.33864112e+02] [-4.93401728e-03 9.99987828e-01 3.88699132e-06 8.34857479e+00] [ 2.39039901e-04 -2.70759716e-06 9.99999971e-01 -2.03676742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters 0.054361845517523676 Centerline is valid? [True, True] Translation: X:333.92, Y:8.34, Z:-2.04 [[ 9.99993723e-01 3.51622184e-03 4.36471211e-04 3.33922342e+02] [-3.51621890e-03 9.99993818e-01 -7.50096822e-06 8.34277047e+00] [-4.36494888e-04 5.96619282e-06 9.99999905e-01 -2.03857901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters 0.05532811786870972 Centerline is valid? [True, True] Translation: X:333.98, Y:8.35, Z:-2.04 [[ 9.99990967e-01 4.23777862e-03 3.26967129e-04 3.33981163e+02] [-4.23777692e-03 9.99991021e-01 -5.88066689e-06 8.34511540e+00] [-3.26989114e-04 4.49500003e-06 9.99999947e-01 -2.03718531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters 0.05495797977812858 Centerline is valid? [True, True] Translation: X:334.04, Y:8.35, Z:-2.04 [[ 9.99966467e-01 8.12383075e-03 1.03329019e-03 3.34040568e+02] [-8.12381661e-03 9.99967001e-01 -1.78775462e-05 8.34600491e+00] [-1.03340132e-03 9.48268671e-06 9.99999466e-01 -2.03561832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters 0.05536994021519083 Centerline is valid? [True, True] Translation: X:334.10, Y:8.35, Z:-2.04 [[ 9.99934065e-01 1.14248641e-02 1.15716012e-03 3.34098038e+02] [-1.14248491e-02 9.99934734e-01 -1.94973461e-05 8.34595262e+00] [-1.15730735e-03 6.27568077e-06 9.99999330e-01 -2.03563691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters 0.05547751545022703 Centerline is valid? [True, True] Translation: X:334.16, Y:8.35, Z:-2.04 [[ 9.99894855e-01 1.44960647e-02 -3.77554504e-04 3.34156108e+02] [-1.44960636e-02 9.99894927e-01 5.60110503e-06 8.34508507e+00] [ 3.77596027e-04 -1.27462002e-07 9.99999929e-01 -2.03643954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters 0.05502680793808484 Centerline is valid? [True, True] Translation: X:334.22, Y:8.34, Z:-2.04 [[ 9.99882319e-01 1.51559059e-02 -2.37616269e-03 3.34215223e+02] [-1.51558558e-02 9.99885143e-01 3.90731048e-05 8.34264364e+00] [ 2.37648195e-03 -3.05572761e-06 9.99997176e-01 -2.03909210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters 0.05537686081086251 Centerline is valid? [True, True] Translation: X:334.27, Y:8.34, Z:-2.04 [[ 9.99890130e-01 1.45235584e-02 -2.96558222e-03 3.34273639e+02] [-1.45234780e-02 9.99894528e-01 4.86549880e-05 8.34099422e+00] [ 2.96597608e-03 -5.57907407e-06 9.99995601e-01 -2.03985140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96439141799993 meters 0.05541301204586148 Centerline is valid? [True, True] Translation: X:334.33, Y:8.34, Z:-2.04 [[ 9.99909971e-01 1.31486708e-02 -2.67624730e-03 3.34331506e+02] [-1.31486010e-02 9.99913552e-01 4.36569039e-05 8.33919533e+00] [ 2.67658998e-03 -8.46406552e-06 9.99996418e-01 -2.03924824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02439141799994 meters 0.05485868179685941 Centerline is valid? [True, True] Translation: X:334.39, Y:8.34, Z:-2.04 [[ 9.99932673e-01 1.13325724e-02 -2.49449010e-03 3.34388804e+02] [-1.13325061e-02 9.99935784e-01 4.07311303e-05 8.33674349e+00] [ 2.49479151e-03 -1.24595637e-05 9.99996888e-01 -2.03859068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08439141799994 meters 0.055021274533503764 Centerline is valid? [True, True] Translation: X:334.45, Y:8.33, Z:-2.04 [[ 9.99961138e-01 8.50327309e-03 -2.32763262e-03 3.34446893e+02] [-8.50320811e-03 9.99963846e-01 3.78142514e-05 8.33323338e+00] [ 2.32787001e-03 -1.80204373e-05 9.99997290e-01 -2.03834943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14439141799994 meters 0.05543342581276304 Centerline is valid? [True, True] Translation: X:334.51, Y:8.33, Z:-2.04 [[ 9.99973364e-01 7.01458826e-03 -2.01666334e-03 3.34505860e+02] [-7.01453650e-03 9.99975397e-01 3.27386928e-05 8.33102669e+00] [ 2.01684337e-03 -1.85918621e-05 9.99997966e-01 -2.03793073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20439141799994 meters 0.055895995244762846 Centerline is valid? [True, True] Translation: X:334.57, Y:8.33, Z:-2.04 [[ 9.99968770e-01 7.75384657e-03 -1.52877066e-03 3.34565165e+02] [-7.75381774e-03 9.99969938e-01 2.47837628e-05 8.32936865e+00] [ 1.52891687e-03 -1.29291797e-05 9.99998831e-01 -2.03779217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26439141799995 meters 0.056026329697634034 Centerline is valid? [True, True] Translation: X:334.62, Y:8.33, Z:-2.04 [[ 9.99904560e-01 1.37946896e-02 7.60049986e-04 3.34624269e+02] [-1.37946840e-02 9.99904849e-01 -1.25495202e-05 8.33017769e+00] [-7.60150783e-04 2.06367309e-06 9.99999711e-01 -2.03560774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32439141799995 meters 0.05603831228608741 Centerline is valid? [True, True] Translation: X:334.68, Y:8.33, Z:-2.03 [[ 9.99811451e-01 1.92701061e-02 2.39290728e-03 3.34682572e+02] [-1.92700677e-02 9.99814314e-01 -3.90721312e-05 8.33227190e+00] [-2.39321588e-03 -7.04672121e-06 9.99997136e-01 -2.03395332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38439141799995 meters 0.056565769692166826 Centerline is valid? [True, True] Translation: X:334.74, Y:8.33, Z:-2.03 [[ 9.99697710e-01 2.43824174e-02 3.16011891e-03 3.34741547e+02] [-2.43823761e-02 9.99702704e-01 -5.15741667e-05 8.33271580e+00] [-3.16043692e-03 -2.54926315e-05 9.99995005e-01 -2.03327722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44439141799995 meters 0.056566575268892604 Centerline is valid? [True, True] Translation: X:334.80, Y:8.32, Z:-2.04 [[ 9.99740961e-01 2.27041873e-02 1.59104509e-03 3.34799871e+02] [-2.27041750e-02 9.99742227e-01 -2.57808299e-05 8.32362641e+00] [-1.59122029e-03 -1.03492145e-05 9.99998734e-01 -2.03518882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50439141799995 meters 0.05643425036230552 Centerline is valid? [True, True] Translation: X:334.86, Y:8.32, Z:-2.04 [[ 9.99868746e-01 1.61675092e-02 -1.04996189e-03 3.34857374e+02] [-1.61675006e-02 9.99869297e-01 1.66843520e-05 8.31537320e+00] [ 1.05009440e-03 2.93097433e-07 9.99999449e-01 -2.03694919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56439141799996 meters 0.0565310421463389 Centerline is valid? [True, True] Translation: X:334.92, Y:8.31, Z:-2.04 [[ 9.99902532e-01 1.38196632e-02 -1.98605603e-03 3.34915368e+02] [-1.38196277e-02 9.99904504e-01 3.16109753e-05 8.31230575e+00] [ 1.98630323e-03 -4.16133928e-06 9.99998027e-01 -2.03775589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62439141799996 meters 0.05694511728822649 Centerline is valid? [True, True] Translation: X:334.97, Y:8.30, Z:-2.04 [[ 9.99958201e-01 8.26691009e-03 -3.90577820e-03 3.34973325e+02] [-8.26672919e-03 9.99965828e-01 6.24567862e-05 8.30362664e+00] [ 3.90616106e-03 -3.01661648e-05 9.99992370e-01 -2.03887900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68439141799996 meters 0.0563680229181127 Centerline is valid? [True, True] Translation: X:335.03, Y:8.30, Z:-2.04 [[ 9.99977965e-01 4.98454238e-03 -4.38452330e-03 3.35031538e+02] [-4.98428417e-03 9.99987576e-01 6.98175028e-05 8.30118593e+00] [ 4.38481683e-03 -4.79622543e-05 9.99990385e-01 -2.03517120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74439141799996 meters 0.057323333128648665 Centerline is valid? [True, True] Translation: X:335.09, Y:8.29, Z:-2.03 [[ 9.99997241e-01 9.72702482e-04 -2.13832233e-03 3.35090029e+02] [-9.72632214e-04 9.99999526e-01 3.39007728e-05 8.29481301e+00] [ 2.13835429e-03 -3.18208781e-05 9.99997713e-01 -2.03396472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80439141799997 meters 0.057001091147652304 Centerline is valid? [True, True] Translation: X:335.15, Y:8.29, Z:-2.04 [[ 9.99999695e-01 -2.72932297e-04 -7.31538553e-04 3.35148723e+02] [ 2.72940783e-04 9.99999963e-01 1.15005926e-05 8.28609999e+00] [ 7.31535387e-04 -1.17002558e-05 9.99999732e-01 -2.03528605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86439141799997 meters 0.057530713963507195 Centerline is valid? [True, True] Translation: X:335.21, Y:8.28, Z:-2.04 [[ 9.99999768e-01 -4.72131004e-04 -4.91490020e-04 3.35208833e+02] [ 4.72134908e-04 9.99999889e-01 7.82541833e-06 8.28285391e+00] [ 4.91486270e-04 -8.05746611e-06 9.99999879e-01 -2.03585807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92439141799997 meters 0.0576862923961624 Centerline is valid? [True, True] Translation: X:335.27, Y:8.28, Z:-2.03 [[ 9.99993690e-01 -3.51783205e-03 -4.94756038e-04 3.35269222e+02] [ 3.51783638e-03 9.99993812e-01 7.87741931e-06 8.28116367e+00] [ 4.94725265e-04 -9.61784039e-06 9.99999878e-01 -2.03476235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters 0.05732687804187487 Centerline is valid? [True, True] Translation: X:335.33, Y:8.27, Z:-2.04 [[ 9.99979662e-01 -6.33162624e-03 -7.65863226e-04 3.35329168e+02] [ 6.33163765e-03 9.99979955e-01 1.24697647e-05 8.27357483e+00] [ 7.65768920e-04 -1.73186795e-05 9.99999707e-01 -2.03525655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters 0.057146234299955835 Centerline is valid? [True, True] Translation: X:335.39, Y:8.27, Z:-2.03 [[ 9.99936598e-01 -1.09929090e-02 -2.44062029e-03 3.35390076e+02] [ 1.09930369e-02 9.99939574e-01 3.89713779e-05 8.27293937e+00] [ 2.44004440e-03 -6.57987358e-05 9.99997021e-01 -2.03490941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters 0.057076770934204074 Centerline is valid? [True, True] Translation: X:335.45, Y:8.27, Z:-2.04 [[ 9.99894642e-01 -1.40133203e-02 -3.78582772e-03 3.35449656e+02] [ 1.40136505e-02 9.99901802e-01 6.07176564e-05 8.26789352e+00] [ 3.78460511e-03 -1.13764526e-04 9.99992832e-01 -2.03693335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters 0.057737637315371085 Centerline is valid? [True, True] Translation: X:335.51, Y:8.27, Z:-2.04 [[ 9.99829509e-01 -1.73589878e-02 -6.29427564e-03 3.35509780e+02] [ 1.73599652e-02 9.99849299e-01 1.00679082e-04 8.26514039e+00] [ 6.29157940e-03 -2.09930322e-04 9.99980186e-01 -2.03786621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters 0.0589317485959307 Centerline is valid? [True, True] Translation: X:335.57, Y:8.26, Z:-2.04 [[ 9.99813484e-01 -1.78843215e-02 -7.29028313e-03 3.35570503e+02] [ 1.78856506e-02 9.99840032e-01 1.17148411e-04 8.25717825e+00] [ 7.28702180e-03 -2.47518017e-04 9.99973419e-01 -2.04085379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters 0.05731319477462417 Centerline is valid? [True, True] Translation: X:335.63, Y:8.26, Z:-2.04 [[ 9.99795824e-01 -1.94082470e-02 -5.62414717e-03 3.35632218e+02] [ 1.94090625e-02 9.99811622e-01 9.04571200e-05 8.26412901e+00] [ 5.62133209e-03 -1.99598075e-04 9.99984180e-01 -2.03771007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters 0.060079736281149154 Centerline is valid? [True, True] Translation: X:335.69, Y:8.25, Z:-2.04 [[ 9.99777820e-01 -2.05997016e-02 -4.46794010e-03 3.35693292e+02] [ 2.06002287e-02 9.99787790e-01 7.19929123e-05 8.25234942e+00] [ 4.46550892e-03 -1.64017505e-04 9.99990016e-01 -2.03984034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40439141799993 meters 0.05665577221075924 Centerline is valid? [True, True] Translation: X:335.76, Y:8.27, Z:-2.04 [[ 9.99748472e-01 -2.24045691e-02 -1.01409083e-03 3.35755382e+02] [ 2.24045979e-02 9.99748985e-01 1.70405524e-05 8.26767895e+00] [ 1.01345450e-03 -3.97565635e-05 9.99999486e-01 -2.03525307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46439141799993 meters 0.058081234312296885 Centerline is valid? [True, True] Translation: X:335.82, Y:8.27, Z:-2.03 [[ 9.99772842e-01 -2.12826706e-02 -1.14551209e-03 3.35816718e+02] [ 2.12827059e-02 9.99773497e-01 1.86568678e-05 8.27080039e+00] [ 1.14485556e-03 -4.30322268e-05 9.99999344e-01 -2.03449940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52439141799994 meters 0.05795482289636398 Centerline is valid? [True, True] Translation: X:335.88, Y:8.27, Z:-2.03 [[ 9.99800211e-01 -1.99041115e-02 -1.83418450e-03 3.35878393e+02] [ 1.99041998e-02 9.99801891e-01 2.99072626e-05 8.27240660e+00] [ 1.83322586e-03 -6.64092623e-05 9.99998317e-01 -2.03484940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58439141799994 meters 0.057287102586240764 Centerline is valid? [True, True] Translation: X:335.94, Y:8.28, Z:-2.03 [[ 9.99823942e-01 -1.84977560e-02 -3.14939516e-03 3.35939966e+02] [ 1.84980091e-02 9.99828896e-01 5.12506713e-05 8.27606554e+00] [ 3.14790826e-03 -1.09499188e-04 9.99995039e-01 -2.03483575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64439141799994 meters 0.056434583860770535 Centerline is valid? [True, True] Translation: X:336.00, Y:8.28, Z:-2.04 [[ 9.99843996e-01 -1.71852043e-02 -4.08067848e-03 3.36002184e+02] [ 1.71856194e-02 9.99852314e-01 6.66868254e-05 8.27634362e+00] [ 4.07892979e-03 -1.36805409e-04 9.99991672e-01 -2.03562813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70439141799994 meters 0.05768801810378593 Centerline is valid? [True, True] Translation: X:336.06, Y:8.28, Z:-2.04 [[ 9.99873148e-01 -1.52330375e-02 -4.65211796e-03 3.36062443e+02] [ 1.52335551e-02 9.99883960e-01 7.58355006e-05 8.27644185e+00] [ 4.65042293e-03 -1.46694176e-04 9.99989176e-01 -2.03663668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76439141799995 meters 0.05676114938466006 Centerline is valid? [True, True] Translation: X:336.12, Y:8.29, Z:-2.04 [[ 9.99932004e-01 -1.06851639e-02 -4.67070428e-03 3.36123502e+02] [ 1.06856358e-02 9.99942904e-01 7.60983729e-05 8.28523485e+00] [ 4.66962447e-03 -1.26002643e-04 9.99989089e-01 -2.03505332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82439141799995 meters 0.057697947018432276 Centerline is valid? [True, True] Translation: X:336.18, Y:8.28, Z:-2.04 [[ 9.99978081e-01 -5.48115244e-03 -3.71420020e-03 3.36182610e+02] [ 5.48141470e-03 9.99984975e-01 6.04337405e-05 8.28310010e+00] [ 3.71381315e-03 -8.07914874e-05 9.99993101e-01 -2.03666455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88439141799995 meters 0.057520776644390675 Centerline is valid? [True, True] Translation: X:336.24, Y:8.29, Z:-2.03 [[ 9.99987841e-01 -3.80188010e-03 -3.14077515e-03 3.36243593e+02] [ 3.80205971e-03 9.99992771e-01 5.12180553e-05 8.28910440e+00] [ 3.14055772e-03 -6.31588471e-05 9.99995066e-01 -2.03469258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94439141799995 meters 0.057412268955586966 Centerline is valid? [True, True] Translation: X:336.30, Y:8.28, Z:-2.04 [[ 9.99989339e-01 -3.28307217e-03 -3.24707780e-03 3.36302589e+02] [ 3.28326100e-03 9.99994609e-01 5.28257959e-05 8.28472162e+00] [ 3.24688687e-03 -6.34862367e-05 9.99994727e-01 -2.03767021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00439141799995 meters 0.056734656243261516 Centerline is valid? [True, True] Translation: X:336.36, Y:8.29, Z:-2.04 [[ 9.99992957e-01 -1.63990206e-03 -3.37585379e-03 3.36362636e+02] [ 1.64009672e-03 9.99998654e-01 5.48934054e-05 8.29188750e+00] [ 3.37575923e-03 -6.04297455e-05 9.99994300e-01 -2.03554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06439141799996 meters 0.05786945105899181 Centerline is valid? [True, True] Translation: X:336.42, Y:8.29, Z:-2.04 [[ 9.99988252e-01 3.25659140e-03 -3.59020955e-03 3.36421747e+02] [-3.25640317e-03 9.99994696e-01 5.82722357e-05 8.29423782e+00] [ 3.59038028e-03 -4.65803814e-05 9.99993553e-01 -2.03653698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12439141799996 meters 0.0568735461044514 Centerline is valid? [True, True] Translation: X:336.48, Y:8.30, Z:-2.04 [[ 9.99965118e-01 7.49745834e-03 -3.68116058e-03 3.36479905e+02] [-7.49728999e-03 9.99971893e-01 5.95320923e-05 8.29636998e+00] [ 3.68150345e-03 -3.19312873e-05 9.99993223e-01 -2.03766173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18439141799996 meters 0.056985002526864934 Centerline is valid? [True, True] Translation: X:336.54, Y:8.30, Z:-2.04 [[ 9.99941099e-01 1.04845638e-02 -2.80570984e-03 3.36539202e+02] [-1.04844799e-02 9.99945035e-01 4.46016988e-05 8.29810909e+00] [ 2.80602325e-03 -1.51826633e-05 9.99996063e-01 -2.03769026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24439141799996 meters 0.056457964675489136 Centerline is valid? [True, True] Translation: X:336.60, Y:8.30, Z:-2.04 [[ 9.99922303e-01 1.21970089e-02 -2.57302222e-03 3.36596590e+02] [-1.21969434e-02 9.99925614e-01 4.11361228e-05 8.29906647e+00] [ 2.57333256e-03 -9.74992018e-06 9.99996689e-01 -2.03847043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30439141799997 meters 0.057331868936802095 Centerline is valid? [True, True] Translation: X:336.66, Y:8.30, Z:-2.04 [[ 9.99906354e-01 1.30934388e-02 -3.98066487e-03 3.36655618e+02] [-1.30932890e-02 9.99914277e-01 6.36920473e-05 8.29944861e+00] [ 3.98115758e-03 -1.15660872e-05 9.99992075e-01 -2.03919756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36439141799997 meters 0.05708439436956551 Centerline is valid? [True, True] Translation: X:336.71, Y:8.30, Z:-2.04 [[ 9.99909654e-01 1.26222091e-02 -4.62213182e-03 3.36714541e+02] [-1.26220026e-02 9.99920337e-01 7.38393088e-05 8.29863559e+00] [ 4.62269562e-03 -1.54920777e-05 9.99989315e-01 -2.04022068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42439141799997 meters 0.057008518008862814 Centerline is valid? [True, True] Translation: X:336.77, Y:8.30, Z:-2.04 [[ 9.99910435e-01 1.19309273e-02 -6.06428927e-03 3.36773346e+02] [-1.19305600e-02 9.99928824e-01 9.67343309e-05 8.29810668e+00] [ 6.06501176e-03 -2.43752997e-05 9.99981607e-01 -2.04031983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters 0.05689853382974932 Centerline is valid? [True, True] Translation: X:336.83, Y:8.30, Z:-2.04 [[ 9.99909029e-01 1.17964658e-02 -6.54046325e-03 3.36831378e+02] [-1.17960377e-02 9.99930419e-01 1.04031943e-04 8.29707490e+00] [ 6.54123536e-03 -2.68709285e-05 9.99978606e-01 -2.04210994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters 0.05743224683290962 Centerline is valid? [True, True] Translation: X:336.89, Y:8.30, Z:-2.04 [[ 9.99912027e-01 1.18162237e-02 -6.02628750e-03 3.36889192e+02] [-1.18158622e-02 9.99930186e-01 9.55975220e-05 8.29819400e+00] [ 6.02699638e-03 -2.43833295e-05 9.99981837e-01 -2.03764129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters 0.057539845453802266 Centerline is valid? [True, True] Translation: X:336.95, Y:8.30, Z:-2.04 [[ 9.99884635e-01 1.45566082e-02 -4.33833861e-03 3.36948475e+02] [-1.45564466e-02 9.99894047e-01 6.88282698e-05 8.29813988e+00] [ 4.33888085e-03 -5.66953535e-06 9.99990587e-01 -2.04040052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters 0.057460881460204304 Centerline is valid? [True, True] Translation: X:337.01, Y:8.30, Z:-2.04 [[ 9.99805784e-01 1.96495008e-02 -1.51355869e-03 3.37007887e+02] [-1.96494876e-02 9.99806930e-01 2.36061023e-05 8.30110986e+00] [ 1.51373032e-03 6.13913519e-06 9.99998854e-01 -2.03750046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters 0.05774535769890145 Centerline is valid? [True, True] Translation: X:337.06, Y:8.30, Z:-2.04 [[ 9.99769689e-01 2.14534051e-02 -5.66289609e-04 3.37064723e+02] [-2.14534038e-02 9.99769849e-01 8.36001627e-06 8.30091216e+00] [ 5.66338627e-04 3.79074881e-06 9.99999840e-01 -2.03594824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters 0.057414166722523155 Centerline is valid? [True, True] Translation: X:337.12, Y:8.30, Z:-2.03 [[ 9.99792283e-01 2.03287804e-02 -1.46011295e-03 3.37122790e+02] [-2.03287691e-02 9.99793349e-01 2.26068542e-05 8.29666131e+00] [ 1.46027079e-03 7.08014069e-06 9.99998934e-01 -2.03438934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters 0.05691643114183847 Centerline is valid? [True, True] Translation: X:337.18, Y:8.29, Z:-2.04 [[ 9.99849142e-01 1.70385436e-02 -3.37364685e-03 3.37180374e+02] [-1.70384630e-02 9.99854833e-01 5.26172879e-05 8.29371324e+00] [ 3.37405364e-03 4.87240701e-06 9.99994308e-01 -2.03881811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90439141799993 meters 0.05765896571064386 Centerline is valid? [True, True] Translation: X:337.24, Y:8.29, Z:-2.04 [[ 9.99933052e-01 1.02660784e-02 -5.33851379e-03 3.37238757e+02] [-1.02657805e-02 9.99947302e-01 8.31983146e-05 8.28610184e+00] [ 5.33908659e-03 -2.83887337e-05 9.99985747e-01 -2.04014593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96439141799993 meters 0.05749225717723564 Centerline is valid? [True, True] Translation: X:337.30, Y:8.28, Z:-2.04 [[ 9.99966235e-01 5.10955011e-03 -6.43595295e-03 3.37297274e+02] [-5.10901143e-03 9.99986944e-01 1.00137098e-04 8.27851301e+00] [ 6.43638057e-03 -6.72523597e-05 9.99979284e-01 -2.04269720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02439141799994 meters 0.05671122595625149 Centerline is valid? [True, True] Translation: X:337.36, Y:8.28, Z:-2.04 [[ 9.99976710e-01 2.95479339e-03 -6.15212459e-03 3.37356428e+02] [-2.95426164e-03 9.99995632e-01 9.55200376e-05 8.27566023e+00] [ 6.15237995e-03 -7.73428273e-05 9.99981071e-01 -2.04236324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08439141799994 meters 0.05694996348113271 Centerline is valid? [True, True] Translation: X:337.42, Y:8.27, Z:-2.04 [[ 9.99990796e-01 1.33930123e-03 -4.07601658e-03 3.37415646e+02] [-1.33905487e-03 9.99999101e-01 6.31699368e-05 8.27214985e+00] [ 4.07609752e-03 -5.77113455e-05 9.99991691e-01 -2.04148143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14439141799994 meters 0.05663138143921257 Centerline is valid? [True, True] Translation: X:337.47, Y:8.27, Z:-2.04 [[ 9.99998083e-01 1.29707688e-03 -1.46669465e-03 3.37474461e+02] [-1.29704522e-03 9.99999159e-01 2.25345129e-05 8.27037512e+00] [ 1.46672264e-03 -2.06321004e-05 9.99998924e-01 -2.03887268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20439141799994 meters 0.05833079946489957 Centerline is valid? [True, True] Translation: X:337.53, Y:8.27, Z:-2.04 [[ 9.99996007e-01 1.93987339e-03 -2.05480646e-03 3.37532664e+02] [-1.93981245e-03 9.99998118e-01 3.16506833e-05 8.26548458e+00] [ 2.05486399e-03 -2.76646178e-05 9.99997888e-01 -2.04011050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26439141799995 meters 0.05794690234260158 Centerline is valid? [True, True] Translation: X:337.59, Y:8.27, Z:-2.04 [[ 9.99997033e-01 -3.09514985e-04 -2.41611588e-03 3.37592169e+02] [ 3.09606063e-04 9.99999951e-01 3.73221833e-05 8.26549815e+00] [ 2.41610421e-03 -3.80701167e-05 9.99997080e-01 -2.03814149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32439141799995 meters 0.057781304875339806 Centerline is valid? [True, True] Translation: X:337.65, Y:8.26, Z:-2.04 [[ 9.99992381e-01 -2.90370390e-03 -2.60901718e-03 3.37652018e+02] [ 2.90381869e-03 9.99995783e-01 4.02132342e-05 8.26091946e+00] [ 2.60888941e-03 -4.77890406e-05 9.99996596e-01 -2.03922538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38439141799995 meters 0.056799300183329376 Centerline is valid? [True, True] Translation: X:337.71, Y:8.25, Z:-2.04 [[ 9.99964772e-01 -7.96474591e-03 -2.64894790e-03 3.37712805e+02] [ 7.96488228e-03 9.99968279e-01 4.09355803e-05 8.25461471e+00] [ 2.64853783e-03 -6.20326964e-05 9.99996491e-01 -2.03920900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44439141799995 meters 0.05824855715905095 Centerline is valid? [True, True] Translation: X:337.77, Y:8.24, Z:-2.04 [[ 9.99924318e-01 -1.18497787e-02 -3.30763604e-03 3.37772068e+02] [ 1.18500133e-02 9.99929785e-01 5.13442675e-05 8.24259047e+00] [ 3.30679537e-03 -9.05359127e-05 9.99994528e-01 -2.04227457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50439141799995 meters 0.058568330462620465 Centerline is valid? [True, True] Translation: X:337.83, Y:8.25, Z:-2.04 [[ 9.99911305e-01 -1.26976057e-02 -4.01916925e-03 3.37834051e+02] [ 1.26979595e-02 9.99919376e-01 6.25237004e-05 8.24570087e+00] [ 4.01805130e-03 -1.13553403e-04 9.99991921e-01 -2.04117591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56439141799996 meters 0.05864484443919298 Centerline is valid? [True, True] Translation: X:337.90, Y:8.24, Z:-2.04 [[ 9.99919629e-01 -1.18882895e-02 -4.40508109e-03 3.37896148e+02] [ 1.18887075e-02 9.99929324e-01 6.87338625e-05 8.24074725e+00] [ 4.40395263e-03 -1.21099059e-04 9.99990295e-01 -2.04225067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62439141799996 meters 0.05747245089672434 Centerline is valid? [True, True] Translation: X:337.96, Y:8.24, Z:-2.04 [[ 9.99931133e-01 -1.12152978e-02 -3.45644583e-03 3.37957628e+02] [ 1.12155510e-02 9.99937102e-01 5.38947317e-05 8.23748997e+00] [ 3.45562399e-03 -9.26569648e-05 9.99994025e-01 -2.04257995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68439141799996 meters 0.05801827526621957 Centerline is valid? [True, True] Translation: X:338.02, Y:8.24, Z:-2.04 [[ 9.99957306e-01 -9.13051838e-03 -1.42109589e-03 3.38019074e+02] [ 9.13055919e-03 9.99958315e-01 2.22345492e-05 8.23731652e+00] [ 1.42083364e-03 -3.52090000e-05 9.99998990e-01 -2.04169812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74439141799996 meters 0.058761795733715004 Centerline is valid? [True, True] Translation: X:338.08, Y:8.23, Z:-2.04 [[ 9.99985820e-01 -5.28295934e-03 -6.70387573e-04 3.38078849e+02] [ 5.28296753e-03 9.99986045e-01 1.04448216e-05 8.22982493e+00] [ 6.70323038e-04 -1.39863093e-05 9.99999775e-01 -2.04315789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80439141799997 meters 0.05691401258431591 Centerline is valid? [True, True] Translation: X:338.14, Y:8.23, Z:-2.04 [[ 9.99999932e-01 2.07604566e-04 3.04575288e-04 3.38139527e+02] [-2.07603140e-04 9.99999978e-01 -4.71234883e-06 8.23245297e+00] [-3.04576260e-04 4.64911773e-06 9.99999954e-01 -2.04113062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86439141799997 meters 0.05797888246030347 Centerline is valid? [True, True] Translation: X:338.20, Y:8.23, Z:-2.04 [[ 9.99994639e-01 3.26602414e-03 2.33618709e-04 3.38200459e+02] [-3.26602339e-03 9.99994667e-01 -3.59510352e-06 8.23148347e+00] [-2.33629205e-04 2.83208009e-06 9.99999973e-01 -2.04137530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters 0.0580788600809413 Centerline is valid? [True, True] Translation: X:338.26, Y:8.23, Z:-2.04 [[ 9.99986804e-01 4.79381910e-03 -1.84688086e-03 3.38259291e+02] [-4.79377431e-03 9.99988509e-01 2.86751868e-05 8.22724857e+00] [ 1.84699710e-03 -1.98212783e-05 9.99998294e-01 -2.04271598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters 0.05791705373865684 Centerline is valid? [True, True] Translation: X:338.32, Y:8.22, Z:-2.04 [[ 9.99988799e-01 3.47446247e-03 -3.21401375e-03 3.38318816e+02] [-3.47431998e-03 9.99993963e-01 4.99181397e-05 8.22381014e+00] [ 3.21416779e-03 -3.87510684e-05 9.99994834e-01 -2.04295671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters 0.05854368932806198 Centerline is valid? [True, True] Translation: X:338.38, Y:8.22, Z:-2.04 [[ 9.99991557e-01 1.78464358e-03 -3.70139498e-03 3.38377631e+02] [-1.78444351e-03 9.99998406e-01 5.73556507e-05 8.22019093e+00] [ 3.70149144e-03 -5.07502362e-05 9.99993148e-01 -2.04375309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters 0.0585037474711762 Centerline is valid? [True, True] Translation: X:338.44, Y:8.22, Z:-2.04 [[ 9.99993223e-01 5.70351578e-04 -3.63699986e-03 3.38436163e+02] [-5.70151022e-04 9.99999836e-01 5.61798296e-05 8.21637255e+00] [ 3.63703130e-03 -5.41058097e-05 9.99993385e-01 -2.04387184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters 0.05870031975287628 Centerline is valid? [True, True] Translation: X:338.49, Y:8.21, Z:-2.04 [[ 9.99993372e-01 -5.11381304e-04 -3.60477392e-03 3.38494847e+02] [ 5.11585206e-04 9.99999868e-01 5.56426585e-05 8.21127751e+00] [ 3.60474499e-03 -5.74864387e-05 9.99993501e-01 -2.04493956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters 0.05787165327329643 Centerline is valid? [True, True] Translation: X:338.55, Y:8.21, Z:-2.04 [[ 9.99995500e-01 -1.46013976e-03 -2.62056215e-03 3.38554246e+02] [ 1.46025069e-03 9.99998933e-01 4.04161566e-05 8.21112166e+00] [ 2.62050034e-03 -4.42426524e-05 9.99996566e-01 -2.04383972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters 0.05830934417846581 Centerline is valid? [True, True] Translation: X:338.61, Y:8.21, Z:-2.04 [[ 9.99993705e-01 -3.51817688e-03 -4.61717569e-04 3.38613678e+02] [ 3.51818050e-03 9.99993811e-01 7.02719224e-06 8.20946809e+00] [ 4.61689989e-04 -8.65155375e-06 9.99999893e-01 -2.04283634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters 0.05812004021474928 Centerline is valid? [True, True] Translation: X:338.67, Y:8.20, Z:-2.04 [[ 9.99974487e-01 -7.11776009e-03 -6.02677689e-04 3.38673962e+02] [ 7.11776703e-03 9.99974668e-01 9.36422374e-06 8.20489848e+00] [ 6.02595770e-04 -1.36537042e-05 9.99999818e-01 -2.04485572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40439141799993 meters 0.05774423003883821 Centerline is valid? [True, True] Translation: X:338.74, Y:8.20, Z:-2.04 [[ 9.99962893e-01 -8.56063445e-03 -9.63431229e-04 3.38735984e+02] [ 8.56065299e-03 9.99963357e-01 1.51265830e-05 8.20460904e+00] [ 9.63266433e-04 -2.33736221e-05 9.99999536e-01 -2.04491336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46439141799993 meters 0.057707733061515894 Centerline is valid? [True, True] Translation: X:338.80, Y:8.20, Z:-2.05 [[ 9.99908345e-01 -1.34676677e-02 -1.38695741e-03 3.38795510e+02] [ 1.34677105e-02 9.99909306e-01 2.15352262e-05 8.19929989e+00] [ 1.38654159e-03 -4.02123932e-05 9.99999038e-01 -2.04645250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52439141799994 meters 0.05788899981922052 Centerline is valid? [True, True] Translation: X:338.86, Y:8.20, Z:-2.05 [[ 9.99855937e-01 -1.68715921e-02 -1.85883960e-03 3.38855642e+02] [ 1.68716748e-02 9.99857663e-01 2.88302473e-05 8.19535739e+00] [ 1.85808861e-03 -6.01878312e-05 9.99998272e-01 -2.04715730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58439141799994 meters 0.05740269172843333 Centerline is valid? [True, True] Translation: X:338.92, Y:8.19, Z:-2.05 [[ 9.99756900e-01 -2.19158200e-02 -2.41613003e-03 3.38916292e+02] [ 2.19159747e-02 9.99759815e-01 3.75877727e-05 8.19014841e+00] [ 2.41472595e-03 -9.05304798e-05 9.99997080e-01 -2.04810565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64439141799994 meters 0.05853862260304309 Centerline is valid? [True, True] Translation: X:338.98, Y:8.18, Z:-2.05 [[ 9.99709680e-01 -2.39956693e-02 -2.18267766e-03 3.38976439e+02] [ 2.39958005e-02 9.99712059e-01 3.39300843e-05 8.18335416e+00] [ 2.18123500e-03 -8.62953313e-05 9.99997617e-01 -2.04872513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70439141799994 meters 0.05940826458253794 Centerline is valid? [True, True] Translation: X:339.04, Y:8.18, Z:-2.05 [[ 9.99726893e-01 -2.31486129e-02 -3.20646730e-03 3.39038475e+02] [ 2.31488924e-02 9.99732027e-01 5.00669305e-05 8.18240356e+00] [ 3.20444908e-03 -1.24279423e-04 9.99994858e-01 -2.04947026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76439141799995 meters 0.057862447089204204 Centerline is valid? [True, True] Translation: X:339.10, Y:8.19, Z:-2.05 [[ 9.99773191e-01 -2.10877917e-02 -2.97843424e-03 3.39099319e+02] [ 2.10880234e-02 9.99777622e-01 4.64103875e-05 8.19155726e+00] [ 2.97679321e-03 -1.09209152e-04 9.99995563e-01 -2.04725971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82439141799995 meters 0.058664101231356375 Centerline is valid? [True, True] Translation: X:339.16, Y:8.19, Z:-2.05 [[ 9.99807078e-01 -1.96024529e-02 -1.24486918e-03 3.39159998e+02] [ 1.96024924e-02 9.99807853e-01 1.95545622e-05 8.18591633e+00] [ 1.24424667e-03 -4.39533284e-05 9.99999225e-01 -2.04779890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88439141799995 meters 0.05854282234682593 Centerline is valid? [True, True] Translation: X:339.22, Y:8.19, Z:-2.05 [[ 9.99842525e-01 -1.77391445e-02 4.97043280e-04 3.39221376e+02] [ 1.77391505e-02 9.99842649e-01 -7.65700387e-06 8.18674911e+00] [-4.96829241e-04 1.64729236e-05 9.99999876e-01 -2.04635635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94439141799995 meters 0.05804891938167738 Centerline is valid? [True, True] Translation: X:339.28, Y:8.18, Z:-2.05 [[ 9.99870498e-01 -1.60884354e-02 3.85467525e-04 3.39282526e+02] [ 1.60884389e-02 9.99870573e-01 -5.92145458e-06 8.18494809e+00] [-3.85322368e-04 1.21222585e-05 9.99999926e-01 -2.04717518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00439141799995 meters 0.05856438747066243 Centerline is valid? [True, True] Translation: X:339.34, Y:8.18, Z:-2.05 [[ 9.99869672e-01 -1.61439698e-02 -1.03915217e-04 3.39344081e+02] [ 1.61439701e-02 9.99869678e-01 1.77498761e-06 8.18150760e+00] [ 1.03873019e-04 -3.45236043e-06 9.99999995e-01 -2.04782552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06439141799996 meters 0.05854517648763008 Centerline is valid? [True, True] Translation: X:339.40, Y:8.17, Z:-2.05 [[ 9.99825719e-01 -1.85236516e-02 -2.32520579e-03 3.39404411e+02] [ 1.85237865e-02 9.99828419e-01 3.65133726e-05 8.17441283e+00] [ 2.32413047e-03 -7.95786247e-05 9.99997296e-01 -2.05095120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12439141799996 meters 0.05961369124230459 Centerline is valid? [True, True] Translation: X:339.46, Y:8.17, Z:-2.05 [[ 9.99750934e-01 -2.20612722e-02 -3.37192113e-03 3.39464631e+02] [ 2.20615757e-02 9.99756612e-01 5.28244870e-05 8.17389557e+00] [ 3.36993507e-03 -1.27201223e-04 9.99994314e-01 -2.05140410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18439141799996 meters 0.05834701839039538 Centerline is valid? [True, True] Translation: X:339.53, Y:8.18, Z:-2.05 [[ 9.99649642e-01 -2.62759293e-02 -3.18897480e-03 3.39525407e+02] [ 2.62762227e-02 9.99654719e-01 5.01202280e-05 8.17647776e+00] [ 3.18655675e-03 -1.33896880e-04 9.99994914e-01 -2.05068646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24439141799996 meters 0.059656492814123045 Centerline is valid? [True, True] Translation: X:339.59, Y:8.17, Z:-2.05 [[ 9.99581918e-01 -2.87325588e-02 -3.22949174e-03 3.39585243e+02] [ 2.87328726e-02 9.99587125e-01 5.07927094e-05 8.17094347e+00] [ 3.22669896e-03 -1.43564049e-04 9.99994784e-01 -2.05100580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30439141799997 meters 0.057582236311050895 Centerline is valid? [True, True] Translation: X:339.65, Y:8.18, Z:-2.05 [[ 9.99486563e-01 -3.19971659e-02 -1.67065933e-03 3.39645625e+02] [ 3.19972543e-02 9.99487956e-01 2.62359465e-05 8.18088202e+00] [ 1.66896440e-03 -7.96789874e-05 9.99998604e-01 -2.04851778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36439141799997 meters 0.05880810489763232 Centerline is valid? [True, True] Translation: X:339.71, Y:8.17, Z:-2.05 [[ 9.99365469e-01 -3.55808157e-02 -1.63239777e-03 3.39705150e+02] [ 3.55809049e-02 9.99366799e-01 2.56048341e-05 8.17110819e+00] [ 1.63045310e-03 -8.36707770e-05 9.99998667e-01 -2.04923829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters 0.05882452617850793 Centerline is valid? [True, True] Translation: X:339.77, Y:8.17, Z:-2.05 [[ 9.99251820e-01 -3.85729346e-02 -2.81573935e-03 3.39766274e+02] [ 3.85732121e-02 9.99255776e-01 4.43193241e-05 8.17072688e+00] [ 2.81193429e-03 -1.52898277e-04 9.99996035e-01 -2.04970417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters 0.057021576556780335 Centerline is valid? [True, True] Translation: X:339.83, Y:8.18, Z:-2.05 [[ 9.99049451e-01 -4.33957243e-02 -4.12389549e-03 3.39826470e+02] [ 4.33963602e-02 9.99057932e-01 6.47963044e-05 8.18110593e+00] [ 4.11719861e-03 -2.43696766e-04 9.99991495e-01 -2.04955467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters 0.05711949699855408 Centerline is valid? [True, True] Translation: X:339.89, Y:8.20, Z:-2.05 [[ 9.98913639e-01 -4.64618631e-02 -3.58296681e-03 3.39887725e+02] [ 4.64623632e-02 9.98920040e-01 5.64218085e-05 8.19508025e+00] [ 3.57647588e-03 -2.22833619e-04 9.99993580e-01 -2.04792257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters 0.057725429410332214 Centerline is valid? [True, True] Translation: X:339.95, Y:8.18, Z:-2.05 [[ 9.98860708e-01 -4.76027297e-02 -3.35652263e-03 3.39947291e+02] [ 4.76031748e-02 9.98866325e-01 5.27799404e-05 8.18288272e+00] [ 3.35020495e-03 -2.12500942e-04 9.99994365e-01 -2.05016198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters 0.05723395628474781 Centerline is valid? [True, True] Translation: X:340.01, Y:8.19, Z:-2.05 [[ 9.98833991e-01 -4.81607921e-02 -3.34601390e-03 3.40009305e+02] [ 4.81612407e-02 9.98839573e-01 5.35853231e-05 8.19364993e+00] [ 3.33955038e-03 -2.14671023e-04 9.99994401e-01 -2.04882752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters 0.056700997204912944 Centerline is valid? [True, True] Translation: X:340.07, Y:8.19, Z:-2.05 [[ 9.98880414e-01 -4.71920999e-02 -3.28996896e-03 3.40071048e+02] [ 4.71925274e-02 9.98885811e-01 5.23780711e-05 8.19151829e+00] [ 3.28383148e-03 -2.07581380e-04 9.99994587e-01 -2.04991007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters 0.057517752905341224 Centerline is valid? [True, True] Translation: X:340.13, Y:8.19, Z:-2.05 [[ 9.98981814e-01 -4.49803137e-02 -3.47947264e-03 3.40130648e+02] [ 4.49807778e-02 9.98987851e-01 5.51935947e-05 8.19033705e+00] [ 3.47346827e-03 -2.11646783e-04 9.99993945e-01 -2.04988573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters 0.05740891675670833 Centerline is valid? [True, True] Translation: X:340.19, Y:8.19, Z:-2.05 [[ 9.99083554e-01 -4.26254202e-02 -3.88925683e-03 3.40190219e+02] [ 4.26259819e-02 9.99091098e-01 6.16120989e-05 8.19279076e+00] [ 3.88309563e-03 -2.27339026e-04 9.99992435e-01 -2.05047515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90439141799993 meters 0.056369288358461216 Centerline is valid? [True, True] Translation: X:340.25, Y:8.20, Z:-2.05 [[ 9.99184369e-01 -4.02092912e-02 -3.71616070e-03 3.40250960e+02] [ 4.02097878e-02 9.99191258e-01 5.89904891e-05 8.20381886e+00] [ 3.71078331e-03 -2.08368408e-04 9.99993093e-01 -2.04978404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96439141799993 meters 0.05622611453960723 Centerline is valid? [True, True] Translation: X:340.31, Y:8.21, Z:-2.05 [[ 9.99184467e-01 -4.01922135e-02 -3.87135653e-03 3.40312808e+02] [ 4.01927537e-02 9.99191943e-01 6.18042923e-05 8.20788399e+00] [ 3.86574420e-03 -2.17354368e-04 9.99992504e-01 -2.04949871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02439141799994 meters 0.056961273170371876 Centerline is valid? [True, True] Translation: X:340.37, Y:8.20, Z:-2.05 [[ 9.99159323e-01 -4.08169346e-02 -3.82419486e-03 3.40373322e+02] [ 4.08174659e-02 9.99166618e-01 6.09708616e-05 8.20066101e+00] [ 3.81851920e-03 -2.17013548e-04 9.99992686e-01 -2.05054232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08439141799994 meters 0.05931756464145362 Centerline is valid? [True, True] Translation: X:340.43, Y:8.19, Z:-2.05 [[ 9.99140234e-01 -4.13742716e-02 -2.63847588e-03 3.40433999e+02] [ 4.13745268e-02 9.99143707e-01 4.21913447e-05 8.19207750e+00] [ 2.63447093e-03 -1.51320761e-04 9.99996518e-01 -2.05138466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14439141799994 meters 0.057093094821493766 Centerline is valid? [True, True] Translation: X:340.50, Y:8.20, Z:-2.05 [[ 9.99144930e-01 -4.13099045e-02 -1.70315091e-03 3.40496272e+02] [ 4.13100110e-02 9.99146377e-01 2.73777166e-05 8.20487310e+00] [ 1.70056609e-03 -9.77114894e-05 9.99998549e-01 -2.04902791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20439141799994 meters 0.06005351956803372 Centerline is valid? [True, True] Translation: X:340.56, Y:8.19, Z:-2.05 [[ 9.99115343e-01 -4.20139984e-02 -1.83200765e-03 3.40557420e+02] [ 4.20141232e-02 9.99117016e-01 2.96389118e-05 8.19480796e+00] [ 1.82914477e-03 -1.06582887e-04 9.99998321e-01 -2.05083484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26439141799995 meters 0.057832107333285074 Centerline is valid? [True, True] Translation: X:340.62, Y:8.20, Z:-2.05 [[ 9.99085087e-01 -4.27438921e-02 -1.39592490e-03 3.40619701e+02] [ 4.27439652e-02 9.99086059e-01 2.25766266e-05 8.20014556e+00] [ 1.39368409e-03 -8.22233363e-05 9.99999025e-01 -2.05068439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32439141799995 meters 0.05637546219374271 Centerline is valid? [True, True] Translation: X:340.68, Y:8.21, Z:-2.05 [[ 9.99037237e-01 -4.38671244e-02 -5.23443484e-04 3.40681122e+02] [ 4.38671348e-02 9.99037374e-01 8.50012963e-06 8.21131402e+00] [ 5.22566727e-04 -3.14539119e-05 9.99999863e-01 -2.04954293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38439141799995 meters 0.059405349534972424 Centerline is valid? [True, True] Translation: X:340.74, Y:8.20, Z:-2.05 [[ 9.99033116e-01 -4.39610515e-02 -5.09850876e-04 3.40742392e+02] [ 4.39610616e-02 9.99033245e-01 8.57162412e-06 8.19823640e+00] [ 5.08981157e-04 -3.09769221e-05 9.99999870e-01 -2.05074897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44439141799995 meters 0.05647460015348751 Centerline is valid? [True, True] Translation: X:340.80, Y:8.22, Z:-2.05 [[ 9.99056533e-01 -4.33851588e-02 -1.94223567e-03 3.40804568e+02] [ 4.33853020e-02 9.99058414e-01 3.16220737e-05 8.21636987e+00] [ 1.93903496e-03 -1.15856721e-04 9.99998113e-01 -2.04947500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50439141799995 meters 0.05768744017102052 Centerline is valid? [True, True] Translation: X:340.86, Y:8.20, Z:-2.05 [[ 9.99189738e-01 -4.01012841e-02 -3.42860047e-03 3.40863569e+02] [ 4.01017093e-02 9.99195601e-01 5.53287383e-05 8.20198633e+00] [ 3.42362376e-03 -1.92776647e-04 9.99994121e-01 -2.05292188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56439141799996 meters 0.05635719385960878 Centerline is valid? [True, True] Translation: X:340.92, Y:8.22, Z:-2.05 [[ 9.99394205e-01 -3.47109772e-02 -2.52397496e-03 3.40924683e+02] [ 3.47111907e-02 9.99397384e-01 4.07951469e-05 8.22022001e+00] [ 2.52103793e-03 -1.28380609e-04 9.99996814e-01 -2.04990318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62439141799996 meters 0.05642684516417589 Centerline is valid? [True, True] Translation: X:340.99, Y:8.23, Z:-2.05 [[ 9.99561487e-01 -2.95663299e-02 -1.63302776e-03 3.40985817e+02] [ 2.95664124e-02 9.99562818e-01 2.63917551e-05 8.22518253e+00] [ 1.63153352e-03 -7.46629542e-05 9.99998666e-01 -2.04989810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68439141799996 meters 0.05727869048483849 Centerline is valid? [True, True] Translation: X:341.05, Y:8.22, Z:-2.05 [[ 9.99776498e-01 -2.11325748e-02 -6.07405172e-04 3.41045705e+02] [ 2.11325847e-02 9.99776682e-01 9.78293631e-06 8.21995041e+00] [ 6.07062789e-04 -2.26167910e-05 9.99999815e-01 -2.04988956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74439141799996 meters 0.0573891775388728 Centerline is valid? [True, True] Translation: X:341.11, Y:8.22, Z:-2.05 [[ 9.99884463e-01 -1.51980228e-02 -2.85820926e-04 3.41105327e+02] [ 1.51980247e-02 9.99884503e-01 4.61094297e-06 8.21677624e+00] [ 2.85717837e-04 -8.95432373e-06 9.99999959e-01 -2.05057468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80439141799997 meters 0.05724193760924403 Centerline is valid? [True, True] Translation: X:341.17, Y:8.22, Z:-2.05 [[ 9.99919297e-01 -1.26952398e-02 -4.79261295e-04 3.41167217e+02] [ 1.26952451e-02 9.99919412e-01 7.94748216e-06 8.22035054e+00] [ 4.79121777e-04 -1.40311804e-05 9.99999885e-01 -2.05027669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86439141799997 meters 0.056937489983448455 Centerline is valid? [True, True] Translation: X:341.23, Y:8.23, Z:-2.05 [[ 9.99965418e-01 -8.22074143e-03 -1.25826045e-03 3.41228211e+02] [ 8.22077361e-03 9.99966209e-01 2.04052512e-05 8.22501365e+00] [ 1.25805019e-03 -3.07484199e-05 9.99999208e-01 -2.04953791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters 0.05780076660477658 Centerline is valid? [True, True] Translation: X:341.29, Y:8.22, Z:-2.05 [[ 9.99995028e-01 -2.30354642e-03 -2.15336431e-03 3.41287320e+02] [ 2.30362672e-03 9.99997346e-01 3.48107774e-05 8.22360337e+00] [ 2.15327841e-03 -3.97711519e-05 9.99997681e-01 -2.05073569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters 0.0577198288958714 Centerline is valid? [True, True] Translation: X:341.35, Y:8.22, Z:-2.05 [[ 9.99992871e-01 3.11130894e-03 -2.13960916e-03 3.41347724e+02] [-3.11124198e-03 9.99995159e-01 3.46247742e-05 8.22333474e+00] [ 2.13970653e-03 -2.79676856e-05 9.99997710e-01 -2.05229859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters 0.05771340977877974 Centerline is valid? [True, True] Translation: X:341.41, Y:8.22, Z:-2.05 [[ 9.99980465e-01 5.84326216e-03 -2.21949910e-03 3.41406804e+02] [-5.84319884e-03 9.99982928e-01 3.50126008e-05 8.22383839e+00] [ 2.21966580e-03 -2.20429422e-05 9.99997536e-01 -2.05192116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters 0.05766239659725121 Centerline is valid? [True, True] Translation: X:341.47, Y:8.23, Z:-2.05 [[ 9.99973696e-01 6.77107066e-03 -2.59980942e-03 3.41465474e+02] [-6.77098754e-03 9.99977076e-01 4.07692323e-05 8.22743918e+00] [ 2.60002587e-03 -2.31648828e-05 9.99996620e-01 -2.04672041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters 0.058135940783386165 Centerline is valid? [True, True] Translation: X:341.52, Y:8.22, Z:-2.05 [[ 9.99988326e-01 4.18007563e-03 -2.42386824e-03 3.41523088e+02] [-4.17999481e-03 9.99991263e-01 3.84113191e-05 8.21703850e+00] [ 2.42400763e-03 -2.82791140e-05 9.99997062e-01 -2.05141853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters 0.05784535957828404 Centerline is valid? [True, True] Translation: X:341.58, Y:8.21, Z:-2.05 [[ 9.99997584e-01 3.52768225e-04 -2.16949662e-03 3.41582631e+02] [-3.52694361e-04 9.99999937e-01 3.44292799e-05 8.21305216e+00] [ 2.16950863e-03 -3.36640275e-05 9.99997646e-01 -2.05078582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters 0.05793274044513132 Centerline is valid? [True, True] Translation: X:341.64, Y:8.21, Z:-2.05 [[ 9.99976584e-01 -6.45229357e-03 -2.28026573e-03 3.41642784e+02] [ 6.45239306e-03 9.99979182e-01 3.62772118e-05 8.20571494e+00] [ 2.27998419e-03 -5.09895331e-05 9.99997400e-01 -2.05066881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters 0.05762997736062281 Centerline is valid? [True, True] Translation: X:341.70, Y:8.21, Z:-2.05 [[ 9.99913547e-01 -1.30899205e-02 -1.24640213e-03 3.41703830e+02] [ 1.30899556e-02 9.99914323e-01 1.99754034e-05 8.20612490e+00] [ 1.24603387e-03 -3.62890250e-05 9.99999223e-01 -2.04860892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40439141799993 meters 0.058075125513622955 Centerline is valid? [True, True] Translation: X:341.76, Y:8.20, Z:-2.05 [[ 9.99816009e-01 -1.91320379e-02 -1.38289480e-03 3.41763056e+02] [ 1.91320865e-02 9.99816965e-01 2.19514026e-05 8.19547854e+00] [ 1.38222171e-03 -4.84050268e-05 9.99999044e-01 -2.05020752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46439141799993 meters 0.05846842708798768 Centerline is valid? [True, True] Translation: X:341.82, Y:8.18, Z:-2.05 [[ 9.99649878e-01 -2.62507113e-02 -3.31992852e-03 3.41822195e+02] [ 2.62510313e-02 9.99655381e-01 5.28402267e-05 8.17996355e+00] [ 3.31739732e-03 -1.39973274e-04 9.99994488e-01 -2.05354045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52439141799994 meters 0.058160156596633594 Centerline is valid? [True, True] Translation: X:341.88, Y:8.18, Z:-2.05 [[ 9.99436244e-01 -3.31820048e-02 -5.11351543e-03 3.41882789e+02] [ 3.31828546e-02 9.99449294e-01 8.14031016e-05 8.18040145e+00] [ 5.10799827e-03 -2.51038249e-04 9.99986923e-01 -2.05319505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58439141799994 meters 0.05871564998448885 Centerline is valid? [True, True] Translation: X:341.94, Y:8.18, Z:-2.05 [[ 9.99271726e-01 -3.75994241e-02 -6.50390054e-03 3.41943205e+02] [ 3.76008928e-02 9.99292831e-01 1.03649480e-04 8.17597962e+00] [ 6.49540402e-03 -3.48126461e-04 9.99978844e-01 -2.05302655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64439141799994 meters 0.05767461134118345 Centerline is valid? [True, True] Translation: X:342.00, Y:8.18, Z:-2.05 [[ 9.99212225e-01 -3.91933613e-02 -6.22977432e-03 3.42004369e+02] [ 3.91947407e-02 9.99231586e-01 9.94250997e-05 8.18255597e+00] [ 6.22109047e-03 -3.43521164e-04 9.99980590e-01 -2.05128689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70439141799994 meters 0.05781761061883553 Centerline is valid? [True, True] Translation: X:342.06, Y:8.18, Z:-2.05 [[ 9.99249792e-01 -3.83311048e-02 -5.52992405e-03 3.42064752e+02] [ 3.83321784e-02 9.99265048e-01 8.82633577e-05 8.17635437e+00] [ 5.52247659e-03 -3.00171177e-04 9.99984706e-01 -2.05277221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76439141799995 meters 0.05759809745368637 Centerline is valid? [True, True] Translation: X:342.13, Y:8.19, Z:-2.05 [[ 9.99328799e-01 -3.63246332e-02 -4.74049218e-03 3.42126136e+02] [ 3.63253998e-02 9.99340012e-01 7.56854146e-05 8.18750749e+00] [ 4.73461427e-03 -2.47834888e-04 9.99988761e-01 -2.05050399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82439141799995 meters 0.05843116645045576 Centerline is valid? [True, True] Translation: X:342.19, Y:8.17, Z:-2.05 [[ 9.99459682e-01 -3.27717768e-02 -2.52076969e-03 3.42185584e+02] [ 3.27719822e-02 9.99462854e-01 4.02194534e-05 8.17499263e+00] [ 2.51809761e-03 -1.22808342e-04 9.99996822e-01 -2.05186777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88439141799995 meters 0.059916336743591224 Centerline is valid? [True, True] Translation: X:342.25, Y:8.17, Z:-2.05 [[ 9.99525403e-01 -3.07661027e-02 -1.55410905e-03 3.42245394e+02] [ 3.07661783e-02 9.99526609e-01 2.47980337e-05 8.16634611e+00] [ 1.55261041e-03 -7.26002607e-05 9.99998792e-01 -2.05296138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94439141799995 meters 0.05789187408157027 Centerline is valid? [True, True] Translation: X:342.31, Y:8.18, Z:-2.05 [[ 9.99608769e-01 -2.78510238e-02 -2.57465958e-03 3.42305923e+02] [ 2.78512218e-02 9.99612079e-01 4.10746801e-05 8.17841426e+00] [ 2.57251685e-03 -1.12766025e-04 9.99996685e-01 -2.05050375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00439141799995 meters 0.058553613591894725 Centerline is valid? [True, True] Translation: X:342.37, Y:8.18, Z:-2.05 [[ 9.99728476e-01 -2.27365165e-02 -5.10143817e-03 3.42366202e+02] [ 2.27372277e-02 9.99741473e-01 8.14513354e-05 8.18125918e+00] [ 5.09826739e-03 -1.97421781e-04 9.99986984e-01 -2.05051221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06439141799996 meters 0.0593612926575335 Centerline is valid? [True, True] Translation: X:342.43, Y:8.18, Z:-2.05 [[ 9.99864383e-01 -1.53043127e-02 -6.08231414e-03 3.42426141e+02] [ 1.53051857e-02 9.99882864e-01 9.70035645e-05 8.17966990e+00] [ 6.08011711e-03 -1.90081356e-04 9.99981498e-01 -2.05242219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12439141799996 meters 0.05863429487133125 Centerline is valid? [True, True] Translation: X:342.49, Y:8.18, Z:-2.05 [[ 9.99951341e-01 -8.07986501e-03 -5.65972206e-03 3.42487037e+02] [ 8.08050577e-03 9.99967348e-01 9.03560367e-05 8.18177079e+00] [ 5.65880719e-03 -1.36085057e-04 9.99983980e-01 -2.05193561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18439141799996 meters 0.058430161209003774 Centerline is valid? [True, True] Translation: X:342.55, Y:8.18, Z:-2.05 [[ 9.99970569e-01 -5.72696200e-03 -5.10529626e-03 3.42547202e+02] [ 5.72745259e-03 9.99983595e-01 8.14780113e-05 8.17985139e+00] [ 5.10474589e-03 -1.10715956e-04 9.99986965e-01 -2.05256095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24439141799996 meters 0.05850468383645936 Centerline is valid? [True, True] Translation: X:342.61, Y:8.18, Z:-2.05 [[ 9.99990372e-01 -4.23383293e-04 -4.36758150e-03 3.42607680e+02] [ 4.23691362e-04 9.99999908e-01 6.96103721e-05 8.17966486e+00] [ 4.36755162e-03 -7.14602085e-05 9.99990460e-01 -2.05227103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30439141799997 meters 0.0596782298977247 Centerline is valid? [True, True] Translation: X:342.67, Y:8.18, Z:-2.05 [[ 9.99962796e-01 7.90357266e-03 -3.45558643e-03 3.42667931e+02] [-7.90342989e-03 9.99968766e-01 5.49695042e-05 8.17737746e+00] [ 3.45591296e-03 -2.76564740e-05 9.99994028e-01 -2.05264562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36439141799997 meters 0.060754069846524345 Centerline is valid? [True, True] Translation: X:342.73, Y:8.18, Z:-2.05 [[ 9.99871486e-01 1.50658792e-02 -5.48001319e-03 3.42725659e+02] [-1.50656295e-02 9.99886503e-01 8.68454934e-05 8.17612224e+00] [ 5.48069963e-03 -4.27448400e-06 9.99984981e-01 -2.04617989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters 0.06062427865895012 Centerline is valid? [True, True] Translation: X:342.78, Y:8.17, Z:-2.05 [[ 9.99761254e-01 2.08668199e-02 -6.48161700e-03 3.42783380e+02] [-2.08665933e-02 9.99782264e-01 1.02588428e-04 8.17117812e+00] [ 6.48234641e-03 3.26853302e-05 9.99978989e-01 -2.05287743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters 0.062457817595874356 Centerline is valid? [True, True] Translation: X:342.84, Y:8.16, Z:-2.05 [[ 9.99661470e-01 2.50955862e-02 -6.86703263e-03 3.42842367e+02] [-2.50954319e-02 9.99685054e-01 1.08647115e-04 8.16328679e+00] [ 6.86759645e-03 6.37208146e-05 9.99976416e-01 -2.04803667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters 0.06230006495896263 Centerline is valid? [True, True] Translation: X:342.90, Y:8.15, Z:-2.04 [[ 9.99622255e-01 2.68218244e-02 -5.99467316e-03 3.42901201e+02] [-2.68217446e-02 9.99640228e-01 9.37104628e-05 8.15395670e+00] [ 5.99502993e-03 6.71125284e-05 9.99982027e-01 -2.04251608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters 0.06176912916882376 Centerline is valid? [True, True] Translation: X:342.96, Y:8.15, Z:-2.05 [[ 9.99581101e-01 2.85591439e-02 -4.69028660e-03 3.42958660e+02] [-2.85591138e-02 9.99592103e-01 7.34138758e-05 8.15003330e+00] [ 4.69047009e-03 6.05673061e-05 9.99988998e-01 -2.04692968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters 0.06091522884554854 Centerline is valid? [True, True] Translation: X:343.02, Y:8.14, Z:-2.05 [[ 9.99621757e-01 2.72880216e-02 -3.42153696e-03 3.43017335e+02] [-2.72879984e-02 9.99627612e-01 5.34570539e-05 8.14368595e+00] [ 3.42172156e-03 3.99300611e-05 9.99994145e-01 -2.04671394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters 0.060984491417597396 Centerline is valid? [True, True] Translation: X:343.08, Y:8.14, Z:-2.05 [[ 9.99745567e-01 2.23234893e-02 -3.23476829e-03 3.43077317e+02] [-2.23234423e-02 9.99750800e-01 5.06300292e-05 8.13545307e+00] [ 3.23509243e-03 2.15940162e-05 9.99994767e-01 -2.04618097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters 0.06263432471252187 Centerline is valid? [True, True] Translation: X:343.14, Y:8.13, Z:-2.04 [[ 9.99860008e-01 1.58136440e-02 -5.46751060e-03 3.43135454e+02] [-1.58134149e-02 9.99874957e-01 8.51462302e-05 8.12777606e+00] [ 5.46817339e-03 1.32570288e-06 9.99985049e-01 -2.04440507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters 0.06244268200946547 Centerline is valid? [True, True] Translation: X:343.19, Y:8.12, Z:-2.04 [[ 9.99905333e-01 1.15872480e-02 -7.42029879e-03 3.43193445e+02] [-1.15867104e-02 9.99932865e-01 1.15428104e-04 8.12363307e+00] [ 7.42113812e-03 -2.94403236e-05 9.99972463e-01 -2.04498428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90439141799993 meters 0.061758830614042144 Centerline is valid? [True, True] Translation: X:343.25, Y:8.11, Z:-2.05 [[ 9.99950399e-01 7.50926433e-03 -6.54297561e-03 3.43251451e+02] [-7.50876017e-03 9.99971804e-01 1.01616460e-04 8.11380227e+00] [ 6.54355419e-03 -5.24817846e-05 9.99978589e-01 -2.04929084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96439141799993 meters 0.06296032974427386 Centerline is valid? [True, True] Translation: X:343.31, Y:8.11, Z:-2.05 [[ 9.99973051e-01 4.57618634e-03 -5.74067576e-03 3.43310505e+02] [-4.57575091e-03 9.99989527e-01 8.89818515e-05 8.10692300e+00] [ 5.74102284e-03 -6.27115511e-05 9.99983518e-01 -2.04802145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02439141799994 meters 0.061996377997134165 Centerline is valid? [True, True] Translation: X:343.37, Y:8.10, Z:-2.05 [[ 9.99985520e-01 2.46502731e-03 -4.78364993e-03 3.43368060e+02] [-2.46470193e-03 9.99996960e-01 7.39140159e-05 8.10173885e+00] [ 4.78381759e-03 -6.21226744e-05 9.99988556e-01 -2.04794074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08439141799994 meters 0.06218553419650632 Centerline is valid? [True, True] Translation: X:343.43, Y:8.09, Z:-2.05 [[ 9.99985092e-01 -2.48997449e-03 -4.85955044e-03 3.43427806e+02] [ 2.49036980e-03 9.99996896e-01 7.52972029e-05 8.09418745e+00] [ 4.85934787e-03 -8.73981580e-05 9.99988189e-01 -2.04824260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14439141799994 meters 0.06171655864270585 Centerline is valid? [True, True] Translation: X:343.49, Y:8.08, Z:-2.05 [[ 9.99934902e-01 -9.90622761e-03 -5.66195889e-03 3.43488138e+02] [ 9.90688367e-03 9.99950922e-01 8.78360211e-05 8.08256764e+00] [ 5.66081089e-03 -1.43922671e-04 9.99983967e-01 -2.05113097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20439141799994 meters 0.06265507003645088 Centerline is valid? [True, True] Translation: X:343.55, Y:8.07, Z:-2.05 [[ 9.99800817e-01 -1.91734385e-02 -5.54133028e-03 3.43547471e+02] [ 1.91742091e-02 9.99816154e-01 8.59757887e-05 8.07345782e+00] [ 5.53866308e-03 -1.92209289e-04 9.99984643e-01 -2.05149753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26439141799995 meters 0.06242089021786544 Centerline is valid? [True, True] Translation: X:343.61, Y:8.07, Z:-2.05 [[ 9.99600735e-01 -2.77212256e-02 -5.46854588e-03 3.43607996e+02] [ 2.77221039e-02 9.99615665e-01 8.48472414e-05 8.06736440e+00] [ 5.46409206e-03 -2.36412962e-04 9.99985044e-01 -2.05079631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32439141799995 meters 0.06283401309217586 Centerline is valid? [True, True] Translation: X:343.67, Y:8.09, Z:-2.04 [[ 9.99472302e-01 -3.21767782e-02 -4.44671111e-03 3.43668946e+02] [ 3.21774037e-02 9.99482171e-01 6.91700117e-05 8.08617524e+00] [ 4.44218280e-03 -2.12217129e-04 9.99990111e-01 -2.04470888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38439141799995 meters 0.06180099339411512 Centerline is valid? [True, True] Translation: X:343.73, Y:8.07, Z:-2.05 [[ 9.99302652e-01 -3.72162167e-02 -3.02719313e-03 3.43729358e+02] [ 3.72165297e-02 9.99307224e-01 4.71008836e-05 8.06657011e+00] [ 3.02334305e-03 -1.59729661e-04 9.99995417e-01 -2.04669331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44439141799995 meters 0.06226015766927314 Centerline is valid? [True, True] Translation: X:343.79, Y:8.07, Z:-2.05 [[ 9.99182588e-01 -4.02169554e-02 -4.09292325e-03 3.43790823e+02] [ 4.02175532e-02 9.99190945e-01 6.38237056e-05 8.06974703e+00] [ 4.08704505e-03 -2.28378894e-04 9.99991622e-01 -2.04561047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50439141799995 meters 0.06254818223255697 Centerline is valid? [True, True] Translation: X:343.85, Y:8.06, Z:-2.05 [[ 9.99128159e-01 -4.14345795e-02 -5.10849510e-03 3.43850817e+02] [ 4.14355281e-02 9.99141177e-01 7.99424419e-05 8.05775699e+00] [ 5.10079542e-03 -2.91545937e-04 9.99986948e-01 -2.04822469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56439141799996 meters 0.06085559075941109 Centerline is valid? [True, True] Translation: X:343.91, Y:8.07, Z:-2.05 [[ 9.99077969e-01 -4.25771897e-02 -5.51313336e-03 3.43912359e+02] [ 4.25783115e-02 9.99093129e-01 8.62126829e-05 8.06559313e+00] [ 5.50446296e-03 -3.20873101e-04 9.99984799e-01 -2.04791605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62439141799996 meters 0.06153235076010125 Centerline is valid? [True, True] Translation: X:343.97, Y:8.07, Z:-2.05 [[ 9.99087006e-01 -4.25697197e-02 -3.60197178e-03 3.43974838e+02] [ 4.25701995e-02 9.99093477e-01 5.65964085e-05 8.07117154e+00] [ 3.59629721e-03 -2.09881393e-04 9.99993511e-01 -2.04735508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68439141799996 meters 0.06221085563362383 Centerline is valid? [True, True] Translation: X:344.03, Y:8.06, Z:-2.05 [[ 9.99130983e-01 -4.15369681e-02 -3.45825248e-03 3.44034797e+02] [ 4.15374037e-02 9.99136948e-01 5.42182785e-05 8.05938983e+00] [ 3.45301576e-03 -1.97817991e-04 9.99994019e-01 -2.04876768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74439141799996 meters 0.06236410988896601 Centerline is valid? [True, True] Translation: X:344.10, Y:8.06, Z:-2.05 [[ 9.99183018e-01 -4.02062219e-02 -4.09355506e-03 3.44096890e+02] [ 4.02068220e-02 9.99191377e-01 6.43682277e-05 8.06179270e+00] [ 4.08765691e-03 -2.28904479e-04 9.99991619e-01 -2.04875102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80439141799997 meters 0.06237740777082223 Centerline is valid? [True, True] Translation: X:344.16, Y:8.07, Z:-2.05 [[ 9.99256771e-01 -3.81165768e-02 -5.74735655e-03 3.44157595e+02] [ 3.81177246e-02 9.99273251e-01 9.02611804e-05 8.06729746e+00] [ 5.73973922e-03 -3.09270250e-04 9.99983480e-01 -2.04942042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86439141799997 meters 0.061806269693553254 Centerline is valid? [True, True] Translation: X:344.22, Y:8.08, Z:-2.05 [[ 9.99400615e-01 -3.42086120e-02 -5.30863177e-03 3.44218097e+02] [ 3.42095359e-02 9.99414679e-01 8.33154883e-05 8.07991563e+00] [ 5.30267441e-03 -2.64871379e-04 9.99985906e-01 -2.04723951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters 0.06223257000619896 Centerline is valid? [True, True] Translation: X:344.28, Y:8.07, Z:-2.05 [[ 9.99604920e-01 -2.78631214e-02 -3.69452661e-03 3.44277689e+02] [ 2.78635258e-02 9.99611735e-01 5.80210959e-05 8.07301707e+00] [ 3.69147551e-03 -1.60940711e-04 9.99993174e-01 -2.04904214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters 0.062014232225725885 Centerline is valid? [True, True] Translation: X:344.34, Y:8.07, Z:-2.05 [[ 9.99760616e-01 -2.16626690e-02 -3.07225851e-03 3.44337541e+02] [ 2.16629193e-02 9.99765330e-01 4.82283469e-05 8.07443223e+00] [ 3.07049279e-03 -1.14770890e-04 9.99995279e-01 -2.04934412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters 0.062170638828433315 Centerline is valid? [True, True] Translation: X:344.40, Y:8.08, Z:-2.05 [[ 9.99842538e-01 -1.75662874e-02 -2.51491324e-03 3.44398037e+02] [ 1.75664424e-02 9.99845697e-01 3.95522473e-05 8.08177306e+00] [ 2.51383039e-03 -8.37240979e-05 9.99996837e-01 -2.04779656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters 0.062384992339619964 Centerline is valid? [True, True] Translation: X:344.46, Y:8.08, Z:-2.05 [[ 9.99904020e-01 -1.35313243e-02 -2.97546942e-03 3.44457624e+02] [ 1.35315231e-02 9.99908444e-01 4.66861382e-05 8.08188456e+00] [ 2.97456527e-03 -8.69442906e-05 9.99995572e-01 -2.04783196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters 0.0628605675214507 Centerline is valid? [True, True] Translation: X:344.52, Y:8.08, Z:-2.05 [[ 9.99946845e-01 -9.77495691e-03 -3.27983104e-03 3.44518225e+02] [ 9.77517863e-03 9.99952220e-01 5.15777851e-05 8.08481176e+00] [ 3.27917016e-03 -8.36359777e-05 9.99994620e-01 -2.04796262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters 0.062228552810652815 Centerline is valid? [True, True] Translation: X:344.58, Y:8.08, Z:-2.05 [[ 9.99980458e-01 -5.33818119e-03 -3.25396847e-03 3.44578205e+02] [ 5.33837579e-03 9.99985749e-01 5.11199345e-05 8.08486144e+00] [ 3.25364922e-03 -6.84898420e-05 9.99994705e-01 -2.04896682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters 0.0633607898734891 Centerline is valid? [True, True] Translation: X:344.64, Y:8.08, Z:-2.05 [[ 9.99992862e-01 -2.75020310e-03 -2.59069855e-03 3.44638199e+02] [ 2.75031777e-03 9.99996217e-01 4.06999457e-05 8.08098141e+00] [ 2.59057681e-03 -4.78248994e-05 9.99996643e-01 -2.05069545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters 0.06274381725952644 Centerline is valid? [True, True] Translation: X:344.70, Y:8.09, Z:-2.05 [[ 9.99993840e-01 -2.96346959e-03 -1.88104723e-03 3.44697801e+02] [ 2.96352998e-03 9.99995608e-01 2.93186138e-05 8.08510632e+00] [ 1.88095208e-03 -3.48929731e-05 9.99998230e-01 -2.04855949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40439141799993 meters 0.06202693750463092 Centerline is valid? [True, True] Translation: X:344.76, Y:8.08, Z:-2.05 [[ 9.99985327e-01 -4.74499311e-03 -2.61363043e-03 3.44757269e+02] [ 4.74511648e-03 9.99988741e-01 4.10014645e-05 8.08052594e+00] [ 2.61340645e-03 -5.34028437e-05 9.99996584e-01 -2.05062911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46439141799993 meters 0.06235373577366245 Centerline is valid? [True, True] Translation: X:344.82, Y:8.08, Z:-2.05 [[ 9.99960658e-01 -8.63501900e-03 -2.02957860e-03 3.44817888e+02] [ 8.63510152e-03 9.99962716e-01 3.18974972e-05 8.07579642e+00] [ 2.02922749e-03 -4.94218595e-05 9.99997940e-01 -2.05054200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52439141799994 meters 0.06244479922681085 Centerline is valid? [True, True] Translation: X:344.88, Y:8.07, Z:-2.05 [[ 9.99900381e-01 -1.40628115e-02 -1.21085490e-03 3.44878845e+02] [ 1.40628448e-02 9.99901113e-01 1.90100707e-05 8.07321322e+00] [ 1.21046783e-03 -3.60362414e-05 9.99999267e-01 -2.04911955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58439141799994 meters 0.06407724718020327 Centerline is valid? [True, True] Translation: X:344.94, Y:8.05, Z:-2.05 [[ 9.99789927e-01 -2.04451351e-02 -1.44825465e-03 3.44937978e+02] [ 2.04451893e-02 9.99790975e-01 2.26329321e-05 8.05360798e+00] [ 1.44748919e-03 -5.22380179e-05 9.99998951e-01 -2.05178489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64439141799994 meters 0.06285522416350273 Centerline is valid? [True, True] Translation: X:345.00, Y:8.06, Z:-2.05 [[ 9.99694679e-01 -2.46585533e-02 -1.58249335e-03 3.44999076e+02] [ 2.46586234e-02 9.99695930e-01 2.48237171e-05 8.06341008e+00] [ 1.58140004e-03 -6.38382454e-05 9.99998748e-01 -2.04917235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70439141799994 meters 0.0618313613196277 Centerline is valid? [True, True] Translation: X:345.06, Y:8.06, Z:-2.05 [[ 9.99543650e-01 -3.00717202e-02 -2.86058550e-03 3.45059543e+02] [ 3.00719715e-02 9.99547735e-01 4.48697306e-05 8.05629334e+00] [ 2.85794244e-03 -1.30872700e-04 9.99995908e-01 -2.05083724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76439141799995 meters 0.06240532893546762 Centerline is valid? [True, True] Translation: X:345.12, Y:8.05, Z:-2.05 [[ 9.99376317e-01 -3.51946910e-02 -2.88289463e-03 3.45120050e+02] [ 3.51949675e-02 9.99380464e-01 4.52248681e-05 8.05301990e+00] [ 2.87951690e-03 -1.46660045e-04 9.99995843e-01 -2.05197662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82439141799995 meters 0.06346897783451713 Centerline is valid? [True, True] Translation: X:345.18, Y:8.04, Z:-2.05 [[ 9.99289083e-01 -3.76653561e-02 -1.62794610e-03 3.45179454e+02] [ 3.76654475e-02 9.99290405e-01 2.54819151e-05 8.04489150e+00] [ 1.62583113e-03 -8.67811178e-05 9.99998675e-01 -2.05171230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88439141799995 meters 0.0637607533778087 Centerline is valid? [True, True] Translation: X:345.24, Y:8.04, Z:-2.05 [[ 9.99159245e-01 -4.09958899e-02 -3.74690264e-04 3.45240026e+02] [ 4.09958949e-02 9.99159315e-01 5.90363452e-06 8.04301967e+00] [ 3.74133242e-04 -2.12594337e-05 9.99999930e-01 -2.05047983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94439141799995 meters 0.06209003431027156 Centerline is valid? [True, True] Translation: X:345.30, Y:8.05, Z:-2.05 [[ 9.99059312e-01 -4.33628019e-02 -3.98348041e-04 3.45300524e+02] [ 4.33628079e-02 9.99059391e-01 6.25594617e-06 8.04646015e+00] [ 3.97702076e-04 -2.35235509e-05 9.99999921e-01 -2.04933234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00439141799995 meters 0.06189949616981653 Centerline is valid? [True, True] Translation: X:345.36, Y:8.05, Z:-2.05 [[ 9.99000854e-01 -4.46850033e-02 -7.37516989e-04 3.45362133e+02] [ 4.46850241e-02 9.99001125e-01 1.17435028e-05 8.05363928e+00] [ 7.36255543e-04 -4.46877338e-05 9.99999728e-01 -2.04870476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06439141799996 meters 0.06265740655543203 Centerline is valid? [True, True] Translation: X:345.42, Y:8.04, Z:-2.05 [[ 9.98900596e-01 -4.68203113e-02 -2.33605372e-03 3.45421459e+02] [ 4.68205246e-02 9.98903317e-01 3.66376933e-05 8.04480464e+00] [ 2.33177642e-03 -1.45972674e-04 9.99997271e-01 -2.05053943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12439141799996 meters 0.0638593726324154 Centerline is valid? [True, True] Translation: X:345.48, Y:8.03, Z:-2.05 [[ 9.98798352e-01 -4.90038371e-02 -6.90588136e-04 3.45480511e+02] [ 4.90038563e-02 9.98798589e-01 1.08895780e-05 8.03153552e+00] [ 6.89224825e-04 -4.47179744e-05 9.99999761e-01 -2.05151169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18439141799996 meters 0.06214032824362779 Centerline is valid? [True, True] Translation: X:345.54, Y:8.05, Z:-2.05 [[ 9.98689676e-01 -5.11650742e-02 1.03248743e-03 3.45541428e+02] [ 5.11651181e-02 9.98690207e-01 -1.61697647e-05 8.04654187e+00] [-1.03030776e-03 6.89759184e-05 9.99999467e-01 -2.04997399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24439141799996 meters 0.0617849688338032 Centerline is valid? [True, True] Translation: X:345.60, Y:8.05, Z:-2.05 [[ 9.98700966e-01 -5.09527632e-02 -4.43287464e-04 3.45604707e+02] [ 5.09527717e-02 9.98701064e-01 7.84425574e-06 8.05189569e+00] [ 4.42311975e-04 -3.04207907e-05 9.99999902e-01 -2.05042141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30439141799997 meters 0.06192561431433842 Centerline is valid? [True, True] Translation: X:345.67, Y:8.06, Z:-2.05 [[ 9.98894067e-01 -4.69947394e-02 -1.46170467e-03 3.45665046e+02] [ 4.69948235e-02 9.98895133e-01 2.31949867e-05 8.05871670e+00] [ 1.45899964e-03 -9.18618876e-05 9.99998931e-01 -2.05004661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36439141799997 meters 0.06537994695517395 Centerline is valid? [True, True] Translation: X:345.72, Y:8.03, Z:-2.05 [[ 9.99100461e-01 -4.23768247e-02 -1.57248707e-03 3.45724021e+02] [ 4.23769161e-02 9.99101695e-01 2.48710808e-05 8.03412456e+00] [ 1.57002054e-03 -9.14858609e-05 9.99998763e-01 -2.05321814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters 0.06390965896818145 Centerline is valid? [True, True] Translation: X:345.79, Y:8.04, Z:-2.05 [[ 9.99373480e-01 -3.53922065e-02 2.00592350e-04 3.45785116e+02] [ 3.53922078e-02 9.99373500e-01 -3.16835180e-06 8.04432326e+00] [-2.00354544e-04 1.02657729e-05 9.99999980e-01 -2.05161552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters 0.06375527505819223 Centerline is valid? [True, True] Translation: X:345.85, Y:8.05, Z:-2.05 [[ 9.99597862e-01 -2.82626971e-02 2.30981445e-03 3.45846083e+02] [ 2.82628570e-02 9.99600525e-01 -3.66163218e-05 8.04892972e+00] [-2.30785686e-03 1.01883552e-04 9.99997332e-01 -2.04982755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters 0.06375107277015708 Centerline is valid? [True, True] Translation: X:345.91, Y:8.06, Z:-2.05 [[ 9.99781289e-01 -2.08147232e-02 2.03015817e-03 3.45906623e+02] [ 2.08148314e-02 9.99783347e-01 -3.21806578e-05 8.05837342e+00] [-2.02904850e-03 7.44310195e-05 9.99997939e-01 -2.05041393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters 0.06361266437850045 Centerline is valid? [True, True] Translation: X:345.97, Y:8.05, Z:-2.05 [[ 9.99865785e-01 -1.63706473e-02 6.42745438e-04 3.45966207e+02] [ 1.63706573e-02 9.99865992e-01 -1.02305460e-05 8.05385329e+00] [-6.42491825e-04 2.07513382e-05 9.99999793e-01 -2.05338246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters 0.062397241621245644 Centerline is valid? [True, True] Translation: X:346.03, Y:8.07, Z:-2.05 [[ 9.99933461e-01 -1.14513678e-02 1.39289623e-03 3.46026843e+02] [ 1.14514096e-02 9.99934430e-01 -2.20246017e-05 8.06541501e+00] [-1.39255269e-03 3.79737615e-05 9.99999030e-01 -2.05368677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters 0.06320726286098682 Centerline is valid? [True, True] Translation: X:346.09, Y:8.06, Z:-2.05 [[ 9.99963810e-01 -8.18580224e-03 2.31756544e-03 3.46086300e+02] [ 8.18590935e-03 9.99966494e-01 -3.67324939e-05 8.06337302e+00] [-2.31718710e-03 5.57025451e-05 9.99997314e-01 -2.05395167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters 0.062281633623758624 Centerline is valid? [True, True] Translation: X:346.15, Y:8.06, Z:-2.06 [[ 9.99972811e-01 -6.75035289e-03 2.96833173e-03 3.46149082e+02] [ 6.75052188e-03 9.99977214e-01 -4.69168917e-05 8.06454224e+00] [-2.96794738e-03 6.69534043e-05 9.99995593e-01 -2.05507840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters 0.06304993002000181 Centerline is valid? [True, True] Translation: X:346.21, Y:8.06, Z:-2.06 [[ 9.99983635e-01 -4.89731728e-03 2.95740172e-03 3.46209146e+02] [ 4.89747761e-03 9.99988006e-01 -4.69738386e-05 8.06148204e+00] [-2.95713620e-03 6.14568786e-05 9.99995626e-01 -2.05585581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90439141799993 meters 0.06247314413984835 Centerline is valid? [True, True] Translation: X:346.27, Y:8.07, Z:-2.05 [[ 9.99986667e-01 -3.24285526e-03 4.01877453e-03 3.46271622e+02] [ 3.24313797e-03 9.99994739e-01 -6.38312837e-05 8.06505685e+00] [-4.01854640e-03 7.68638729e-05 9.99991923e-01 -2.05492897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96439141799993 meters 0.062373402501646 Centerline is valid? [True, True] Translation: X:346.33, Y:8.06, Z:-2.06 [[ 9.99993955e-01 -2.57965236e-03 2.33160500e-03 3.46333151e+02] [ 2.57974578e-03 9.99996672e-01 -3.70596558e-05 8.06234757e+00] [-2.33150163e-03 4.30743799e-05 9.99997281e-01 -2.05664768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02439141799994 meters 0.062368016021379584 Centerline is valid? [True, True] Translation: X:346.39, Y:8.06, Z:-2.06 [[ 9.99995106e-01 -2.78201994e-03 1.43091223e-03 3.46394211e+02] [ 2.78205530e-03 9.99996130e-01 -2.27230107e-05 8.06272352e+00] [-1.43084348e-03 2.67037765e-05 9.99998976e-01 -2.05674941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08439141799994 meters 0.06290693879759203 Centerline is valid? [True, True] Translation: X:346.45, Y:8.06, Z:-2.06 [[ 9.99994485e-01 -3.28417789e-03 4.93853186e-04 3.46454987e+02] [ 3.28418215e-03 9.99994607e-01 -7.80207958e-06 8.06068800e+00] [-4.93824900e-04 9.42394038e-06 9.99999878e-01 -2.05645026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14439141799994 meters 0.06256883512392948 Centerline is valid? [True, True] Translation: X:346.52, Y:8.06, Z:-2.06 [[ 9.99994148e-01 -3.41152365e-03 -2.54183302e-04 3.46515905e+02] [ 3.41152483e-03 9.99994181e-01 4.23242440e-06 8.06143358e+00] [ 2.54167384e-04 -5.09955228e-06 9.99999968e-01 -2.05641994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20439141799994 meters 0.06268274671675478 Centerline is valid? [True, True] Translation: X:346.58, Y:8.06, Z:-2.06 [[ 9.99995307e-01 -3.02116132e-03 -5.08812614e-04 3.46575914e+02] [ 3.02116589e-03 9.99995436e-01 8.21375322e-06 8.05936854e+00] [ 5.08785477e-04 -9.75092198e-06 9.99999871e-01 -2.05710222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26439141799995 meters 0.06279930161293332 Centerline is valid? [True, True] Translation: X:346.64, Y:8.06, Z:-2.06 [[ 9.99994377e-01 -3.33951555e-03 3.06409799e-04 3.46636876e+02] [ 3.33951718e-03 9.99994424e-01 -4.81379879e-06 8.06047380e+00] [-3.06392015e-04 5.83703251e-06 9.99999953e-01 -2.05509336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32439141799995 meters 0.06287881903333695 Centerline is valid? [True, True] Translation: X:346.70, Y:8.06, Z:-2.05 [[ 9.99976887e-01 -6.76600485e-03 6.68933348e-04 3.46698094e+02] [ 6.76601348e-03 9.99977110e-01 -1.06478792e-05 8.05853726e+00] [-6.68845993e-04 1.51736451e-05 9.99999776e-01 -2.05432648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38439141799995 meters 0.06229917902564163 Centerline is valid? [True, True] Translation: X:346.76, Y:8.06, Z:-2.05 [[ 9.99945296e-01 -1.04539583e-02 -3.46308613e-04 3.46759506e+02] [ 1.04539609e-02 9.99945356e-01 5.67927882e-06 8.05815225e+00] [ 3.46230318e-04 -9.29926484e-06 9.99999940e-01 -2.05352108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44439141799995 meters 0.06298910616902023 Centerline is valid? [True, True] Translation: X:346.82, Y:8.05, Z:-2.05 [[ 9.99835602e-01 -1.79746909e-02 -2.38312352e-03 3.46819128e+02] [ 1.79748332e-02 9.99838439e-01 3.82826920e-05 8.05181384e+00] [ 2.38205038e-03 -8.11126461e-05 9.99997160e-01 -2.05492962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50439141799995 meters 0.06400009240939648 Centerline is valid? [True, True] Translation: X:346.88, Y:8.04, Z:-2.06 [[ 9.99676332e-01 -2.52135823e-02 -3.39208618e-03 3.46878519e+02] [ 2.52139121e-02 9.99682077e-01 5.44988241e-05 8.03901642e+00] [ 3.38963365e-03 -1.40008947e-04 9.99994245e-01 -2.05562333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56439141799996 meters 0.06387176984106263 Centerline is valid? [True, True] Translation: X:346.94, Y:8.03, Z:-2.06 [[ 9.99558560e-01 -2.95032432e-02 -3.49912665e-03 3.46939006e+02] [ 2.95036211e-02 9.99564672e-01 5.64161217e-05 8.03481413e+00] [ 3.49593892e-03 -1.59628124e-04 9.99993876e-01 -2.05567436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62439141799996 meters 0.06240364660641456 Centerline is valid? [True, True] Translation: X:347.00, Y:8.05, Z:-2.05 [[ 9.99354698e-01 -3.57834275e-02 -3.12001073e-03 3.46999301e+02] [ 3.57837582e-02 9.99359555e-01 5.02274227e-05 8.04810548e+00] [ 3.11621523e-03 -1.61840721e-04 9.99995131e-01 -2.05235239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68439141799996 meters 0.06217877712789515 Centerline is valid? [True, True] Translation: X:347.06, Y:8.05, Z:-2.05 [[ 9.99146979e-01 -4.12410172e-02 -2.11960029e-03 3.47059958e+02] [ 4.12411821e-02 9.99149220e-01 3.41241812e-05 8.04956278e+00] [ 2.11638966e-03 -1.21509894e-04 9.99997753e-01 -2.05129301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74439141799996 meters 0.062279404049539515 Centerline is valid? [True, True] Translation: X:347.12, Y:8.05, Z:-2.05 [[ 9.98962881e-01 -4.54886838e-02 -1.98534706e-03 3.47119629e+02] [ 4.54888370e-02 9.98964847e-01 3.20332490e-05 8.04618701e+00] [ 1.98183477e-03 -1.22311155e-04 9.99998029e-01 -2.05070449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80439141799997 meters 0.06222353186022819 Centerline is valid? [True, True] Translation: X:347.18, Y:8.05, Z:-2.05 [[ 9.98873118e-01 -4.74038050e-02 -2.31803866e-03 3.47180598e+02] [ 4.74040188e-02 9.98875797e-01 3.73496085e-05 8.04715306e+00] [ 2.31366220e-03 -1.47191868e-04 9.99997313e-01 -2.05063201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86439141799997 meters 0.06267768966106918 Centerline is valid? [True, True] Translation: X:347.24, Y:8.04, Z:-2.05 [[ 9.98786772e-01 -4.91508845e-02 -3.02891528e-03 3.47240176e+02] [ 4.91512574e-02 9.98791345e-01 4.87294347e-05 8.04185265e+00] [ 3.02285927e-03 -1.97545309e-04 9.99995412e-01 -2.05071502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters 0.06183404979867047 Centerline is valid? [True, True] Translation: X:347.30, Y:8.05, Z:-2.05 [[ 9.98772149e-01 -4.93274747e-02 -4.58203121e-03 3.47302184e+02] [ 4.93283355e-02 9.98782614e-01 7.49805939e-05 8.04771988e+00] [ 4.57275450e-03 -3.00912502e-04 9.99989500e-01 -2.05010521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters 0.06322419548790463 Centerline is valid? [True, True] Translation: X:347.36, Y:8.05, Z:-2.05 [[ 9.98771226e-01 -4.93566798e-02 -4.46719182e-03 3.47363977e+02] [ 4.93575011e-02 9.98781173e-01 7.37204301e-05 8.05071326e+00] [ 4.45810849e-03 -2.94119270e-04 9.99990019e-01 -2.04952517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters 0.0616308453286778 Centerline is valid? [True, True] Translation: X:347.43, Y:8.05, Z:-2.05 [[ 9.98793019e-01 -4.89661960e-02 -3.84937053e-03 3.47425255e+02] [ 4.89668048e-02 9.98800404e-01 6.40126425e-05 8.04805126e+00] [ 3.84161839e-03 -2.52426756e-04 9.99992589e-01 -2.04951907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters 0.06171832713806532 Centerline is valid? [True, True] Translation: X:347.49, Y:8.05, Z:-2.05 [[ 9.98725958e-01 -5.03242043e-02 -3.73289488e-03 3.47486307e+02] [ 5.03247845e-02 9.98732903e-01 6.15938076e-05 8.05219720e+00] [ 3.72506529e-03 -2.49372465e-04 9.99993031e-01 -2.04822236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters 0.06344200795864056 Centerline is valid? [True, True] Translation: X:347.55, Y:8.06, Z:-2.05 [[ 9.98678785e-01 -5.12712818e-02 -3.45546711e-03 3.47548004e+02] [ 5.12717848e-02 9.98684735e-01 5.70749611e-05 8.06009943e+00] [ 3.44799595e-03 -2.34167519e-04 9.99994028e-01 -2.04760718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters 0.061868935827633954 Centerline is valid? [True, True] Translation: X:347.61, Y:8.06, Z:-2.05 [[ 9.98697209e-01 -5.09234474e-02 -3.26921759e-03 3.47609442e+02] [ 5.09238988e-02 9.98702535e-01 5.49291548e-05 8.05604380e+00] [ 3.26217871e-03 -2.21338899e-04 9.99994655e-01 -2.04664427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters 0.06227704749090842 Centerline is valid? [True, True] Translation: X:347.67, Y:8.06, Z:-2.05 [[ 9.98773672e-01 -4.93677480e-02 -3.73876724e-03 3.47670583e+02] [ 4.93683250e-02 9.98780639e-01 6.21294464e-05 8.05982295e+00] [ 3.73114114e-03 -2.46629931e-04 9.99993009e-01 -2.04618143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters 0.06306712312006504 Centerline is valid? [True, True] Translation: X:347.73, Y:8.05, Z:-2.05 [[ 9.98905783e-01 -4.66047428e-02 -3.90327740e-03 3.47729948e+02] [ 4.66053501e-02 9.98913378e-01 6.47228728e-05 8.05065690e+00] [ 3.89601962e-03 -2.46565662e-04 9.99992380e-01 -2.04700610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40439141799993 meters 0.06545105119439237 Centerline is valid? [True, True] Translation: X:347.79, Y:8.04, Z:-2.05 [[ 9.99053552e-01 -4.32911658e-02 -4.22792573e-03 3.47789871e+02] [ 4.32918489e-02 9.99062466e-01 7.01584346e-05 8.04007879e+00] [ 4.22092467e-03 -2.53126755e-04 9.99991060e-01 -2.04960387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46439141799993 meters 0.06345384901427892 Centerline is valid? [True, True] Translation: X:347.85, Y:8.06, Z:-2.05 [[ 9.99309661e-01 -3.69969363e-02 -3.38046041e-03 3.47850764e+02] [ 3.69973372e-02 9.99315363e-01 5.61206983e-05 8.05990114e+00] [ 3.37606972e-03 -1.81149990e-04 9.99994285e-01 -2.04595703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52439141799994 meters 0.06515969420197006 Centerline is valid? [True, True] Translation: X:347.91, Y:8.05, Z:-2.05 [[ 9.99603282e-01 -2.80872156e-02 -2.09449243e-03 3.47910250e+02] [ 2.80873501e-02 9.99605472e-01 3.48075527e-05 8.04882260e+00] [ 2.09268845e-03 -9.36224861e-05 9.99997806e-01 -2.04822492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58439141799994 meters 0.06439481798091629 Centerline is valid? [True, True] Translation: X:347.97, Y:8.06, Z:-2.05 [[ 9.99767859e-01 -2.14523851e-02 -2.00586445e-03 3.47970927e+02] [ 2.14524951e-02 9.99769868e-01 3.33103630e-05 8.06018999e+00] [ 2.00468825e-03 -7.63334276e-05 9.99997988e-01 -2.04604769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64439141799994 meters 0.06440542453698754 Centerline is valid? [True, True] Translation: X:348.03, Y:8.06, Z:-2.05 [[ 9.99931426e-01 -1.16110184e-02 -1.52536628e-03 3.48030203e+02] [ 1.16110706e-02 9.99932589e-01 2.53637198e-05 8.06204222e+00] [ 1.52496896e-03 -4.30731161e-05 9.99998836e-01 -2.04624670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70439141799994 meters 0.06365689450795171 Centerline is valid? [True, True] Translation: X:348.09, Y:8.07, Z:-2.04 [[ 9.99990793e-01 -4.29114197e-03 2.63693220e-05 3.48090736e+02] [ 4.29114198e-03 9.99990793e-01 -4.07892943e-07 8.07082389e+00] [-2.63673290e-05 5.21043698e-07 1.00000000e+00 -2.04312275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76439141799995 meters 0.06409440324609278 Centerline is valid? [True, True] Translation: X:348.15, Y:8.07, Z:-2.05 [[ 9.99997242e-01 -1.73718442e-03 -1.58040293e-03 3.48150670e+02] [ 1.73722853e-03 9.99998491e-01 2.65352304e-05 8.06768356e+00] [ 1.58035445e-03 -2.92806782e-05 9.99998751e-01 -2.04629912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82439141799995 meters 0.06349318376771021 Centerline is valid? [True, True] Translation: X:348.21, Y:8.06, Z:-2.05 [[ 9.99992130e-01 -3.05148589e-03 -2.53555201e-03 3.48209848e+02] [ 3.05160257e-03 9.99995343e-01 4.21490035e-05 8.06429076e+00] [ 2.53541158e-03 -4.98861688e-05 9.99996785e-01 -2.04859884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88439141799995 meters 0.06401607378272019 Centerline is valid? [True, True] Translation: X:348.27, Y:8.07, Z:-2.05 [[ 9.99985057e-01 -4.99217309e-03 -2.22784393e-03 3.48270223e+02] [ 4.99226807e-03 9.99987538e-01 3.70766142e-05 8.06658533e+00] [ 2.22763107e-03 -4.81980543e-05 9.99997518e-01 -2.04755003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94439141799995 meters 0.06424318306695016 Centerline is valid? [True, True] Translation: X:348.33, Y:8.07, Z:-2.05 [[ 9.99976243e-01 -6.46260180e-03 -2.39766789e-03 3.48330482e+02] [ 6.46271621e-03 9.99979116e-01 3.99737794e-05 8.06614920e+00] [ 2.39735948e-03 -5.54682768e-05 9.99997125e-01 -2.04744596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00439141799995 meters 0.06395738547636143 Centerline is valid? [True, True] Translation: X:348.39, Y:8.06, Z:-2.05 [[ 9.99915821e-01 -1.26753771e-02 -2.77250222e-03 3.48390764e+02] [ 1.26755543e-02 9.99919661e-01 4.63475015e-05 8.05692079e+00] [ 2.77169201e-03 -8.14866022e-05 9.99996156e-01 -2.04913134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06439141799996 meters 0.06515950216544523 Centerline is valid? [True, True] Translation: X:348.45, Y:8.05, Z:-2.05 [[ 9.99806658e-01 -1.93077859e-02 -3.72235340e-03 3.48451510e+02] [ 1.93081507e-02 9.99813578e-01 6.20642650e-05 8.05216677e+00] [ 3.72046115e-03 -1.33924026e-04 9.99993070e-01 -2.04961697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12439141799996 meters 0.06651498354739656 Centerline is valid? [True, True] Translation: X:348.51, Y:8.04, Z:-2.05 [[ 9.99663689e-01 -2.55745683e-02 -4.29548158e-03 3.48510399e+02] [ 2.55751129e-02 9.99672901e-01 7.18813777e-05 8.03605616e+00] [ 4.29223819e-03 -1.81714629e-04 9.99990772e-01 -2.05233589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18439141799996 meters 0.06293704580440657 Centerline is valid? [True, True] Translation: X:348.57, Y:8.05, Z:-2.05 [[ 9.99557371e-01 -2.95061779e-02 -3.80089340e-03 3.48571760e+02] [ 2.95066329e-02 9.99564583e-01 6.36741609e-05 8.05354280e+00] [ 3.79735965e-03 -1.75797543e-04 9.99992775e-01 -2.04860220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24439141799996 meters 0.06294853817869832 Centerline is valid? [True, True] Translation: X:348.63, Y:8.06, Z:-2.05 [[ 9.99394408e-01 -3.46979840e-02 -2.62072361e-03 3.48632120e+02] [ 3.46982179e-02 9.99397835e-01 4.38505863e-05 8.05648433e+00] [ 2.61762398e-03 -1.34758470e-04 9.99996565e-01 -2.04777891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30439141799997 meters 0.06251913232205895 Centerline is valid? [True, True] Translation: X:348.69, Y:8.05, Z:-2.05 [[ 9.99181210e-01 -4.03741686e-02 -2.61456638e-03 3.48691172e+02] [ 4.03744205e-02 9.99184620e-01 4.35960545e-05 8.05100402e+00] [ 2.61067436e-03 -1.49121961e-04 9.99996581e-01 -2.04888115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36439141799997 meters 0.06341684639124032 Centerline is valid? [True, True] Translation: X:348.75, Y:8.04, Z:-2.05 [[ 9.98999393e-01 -4.45952639e-02 -3.38766384e-03 3.48750804e+02] [ 4.45957115e-02 9.99005115e-01 5.66714302e-05 8.04003529e+00] [ 3.38176622e-03 -2.07690004e-04 9.99994260e-01 -2.05099812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters 0.06329870742671012 Centerline is valid? [True, True] Translation: X:348.81, Y:8.04, Z:-2.05 [[ 9.98705942e-01 -5.07019484e-02 -3.96908946e-03 3.48811588e+02] [ 5.07026111e-02 9.98713793e-01 6.64504134e-05 8.04212053e+00] [ 3.96061522e-03 -2.67607622e-04 9.99992121e-01 -2.05080102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters 0.06121063830897322 Centerline is valid? [True, True] Translation: X:348.87, Y:8.05, Z:-2.05 [[ 9.98457590e-01 -5.53566006e-02 -4.25291194e-03 3.48872833e+02] [ 5.53574033e-02 9.98466601e-01 7.11741981e-05 8.05023008e+00] [ 4.24245056e-03 -3.06494580e-04 9.99990954e-01 -2.04925078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters 0.0630671979512878 Centerline is valid? [True, True] Translation: X:348.93, Y:8.04, Z:-2.05 [[ 9.98307928e-01 -5.80567489e-02 -3.27023722e-03 3.48932487e+02] [ 5.80572384e-02 9.98313254e-01 5.48696388e-05 8.03631999e+00] [ 3.26153561e-03 -2.44637737e-04 9.99994651e-01 -2.05127937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters 0.061452951566623476 Centerline is valid? [True, True] Translation: X:348.99, Y:8.06, Z:-2.05 [[ 9.98351069e-01 -5.73828592e-02 -1.53310012e-03 3.48994934e+02] [ 5.73829662e-02 9.98352240e-01 2.58695494e-05 8.05860563e+00] [ 1.52908947e-03 -1.13800725e-04 9.99998824e-01 -2.04687513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters 0.06377974506704784 Centerline is valid? [True, True] Translation: X:349.05, Y:8.03, Z:-2.05 [[ 9.98414157e-01 -5.62773433e-02 -1.42563957e-03 3.49054080e+02] [ 5.62774345e-02 9.98415169e-01 2.38497405e-05 8.03355464e+00] [ 1.42203798e-03 -1.04043256e-04 9.99998983e-01 -2.04921367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters 0.06207925985989718 Centerline is valid? [True, True] Translation: X:349.12, Y:8.05, Z:-2.05 [[ 9.98477634e-01 -5.51103614e-02 -2.29415607e-03 3.49115575e+02] [ 5.51105950e-02 9.98480256e-01 3.86751775e-05 8.04722574e+00] [ 2.28853813e-03 -1.65048606e-04 9.99997368e-01 -2.04899470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters 0.06281082743352662 Centerline is valid? [True, True] Translation: X:349.18, Y:8.04, Z:-2.05 [[ 9.98642008e-01 -5.20376401e-02 -2.49484094e-03 3.49175393e+02] [ 5.20379064e-02 9.98645109e-01 4.18821865e-05 8.03972623e+00] [ 2.48928125e-03 -1.71651610e-04 9.99996887e-01 -2.04936846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters 0.06395697817099896 Centerline is valid? [True, True] Translation: X:349.23, Y:8.03, Z:-2.05 [[ 9.98769871e-01 -4.94621048e-02 -3.49919233e-03 3.49234881e+02] [ 4.94626126e-02 9.98775974e-01 5.86687553e-05 8.02897017e+00] [ 3.49200735e-03 -2.31675780e-04 9.99993876e-01 -2.05092315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90439141799993 meters 0.06202597348986293 Centerline is valid? [True, True] Translation: X:349.30, Y:8.05, Z:-2.05 [[ 9.98891546e-01 -4.70598396e-02 -1.02555704e-03 3.49296279e+02] [ 4.70598820e-02 9.98892070e-01 1.72657154e-05 8.05479404e+00] [ 1.02360828e-03 -6.55091705e-05 9.99999474e-01 -2.04636150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96439141799993 meters 0.061622389706581335 Centerline is valid? [True, True] Translation: X:349.36, Y:8.04, Z:-2.05 [[ 9.99033383e-01 -4.39572036e-02 2.51406499e-04 3.49356689e+02] [ 4.39572061e-02 9.99033415e-01 -4.17536634e-06 8.04435153e+00] [-2.50979956e-04 1.52224576e-05 9.99999968e-01 -2.04719881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02439141799994 meters 0.06286344271640501 Centerline is valid? [True, True] Translation: X:349.42, Y:8.04, Z:-2.05 [[ 9.99139624e-01 -4.14700590e-02 -4.96054207e-04 3.49417389e+02] [ 4.14700682e-02 9.99139747e-01 8.34723504e-06 8.04231030e+00] [ 4.95281314e-04 -2.89114551e-05 9.99999877e-01 -2.04814162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08439141799994 meters 0.06270658656020793 Centerline is valid? [True, True] Translation: X:349.48, Y:8.04, Z:-2.05 [[ 9.99247633e-01 -3.87835618e-02 5.90124578e-05 3.49477342e+02] [ 3.87835619e-02 9.99247635e-01 -9.91567823e-07 8.03645522e+00] [-5.89296025e-05 3.27953512e-06 9.99999998e-01 -2.04900836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14439141799994 meters 0.0629785628908054 Centerline is valid? [True, True] Translation: X:349.54, Y:8.03, Z:-2.05 [[ 9.99455633e-01 -3.29381000e-02 1.87617620e-03 3.49538436e+02] [ 3.29382169e-02 9.99457389e-01 -3.14488375e-05 8.03389239e+00] [-1.87412230e-03 9.32296165e-05 9.99998239e-01 -2.04887271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20439141799994 meters 0.06441705554688085 Centerline is valid? [True, True] Translation: X:349.60, Y:8.02, Z:-2.05 [[ 9.99742982e-01 -2.24811534e-02 2.92702269e-03 3.49598190e+02] [ 2.24813937e-02 9.99747260e-01 -4.92057147e-05 8.02254473e+00] [-2.92517671e-03 1.14996617e-04 9.99995715e-01 -2.04827120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26439141799995 meters 0.0658532670704517 Centerline is valid? [True, True] Translation: X:349.66, Y:8.02, Z:-2.05 [[ 9.99959202e-01 -8.24188054e-03 3.69661158e-03 3.49658167e+02] [ 8.24216665e-03 9.99966031e-01 -6.21689151e-05 8.01593918e+00] [-3.69597362e-03 9.26344675e-05 9.99993166e-01 -2.04858187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32439141799995 meters 0.06464311752617487 Centerline is valid? [True, True] Translation: X:349.72, Y:8.02, Z:-2.05 [[ 9.99992733e-01 1.18234299e-03 3.62440316e-03 3.49718915e+02] [-1.18212981e-03 9.99999299e-01 -6.09616789e-05 8.02440533e+00] [-3.62447270e-03 5.66767209e-05 9.99993430e-01 -2.04898350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38439141799995 meters 0.06489820062464055 Centerline is valid? [True, True] Translation: X:349.78, Y:8.03, Z:-2.05 [[ 9.99918645e-01 1.22035113e-02 3.71179776e-03 3.49779421e+02] [-1.22033634e-02 9.99925534e-01 -6.24710132e-05 8.02637168e+00] [-3.71228372e-03 1.71695138e-05 9.99993109e-01 -2.04973616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44439141799995 meters 0.06546222695830392 Centerline is valid? [True, True] Translation: X:349.84, Y:8.02, Z:-2.05 [[ 9.99850436e-01 1.68448545e-02 3.91870703e-03 3.49837451e+02] [-1.68447249e-02 9.99858115e-01 -6.60680822e-05 8.02232793e+00] [-3.91926394e-03 4.86587257e-08 9.99992320e-01 -2.04840570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50439141799995 meters 0.06597050821740243 Centerline is valid? [True, True] Translation: X:349.90, Y:8.02, Z:-2.05 [[ 9.99846227e-01 1.68190283e-02 4.96407299e-03 3.49896446e+02] [-1.68188216e-02 9.99858550e-01 -8.33875162e-05 8.01890491e+00] [-4.96477332e-03 -1.15164681e-07 9.99987675e-01 -2.04994482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56439141799996 meters 0.06511581933582543 Centerline is valid? [True, True] Translation: X:349.96, Y:8.01, Z:-2.05 [[ 9.99890931e-01 1.32061820e-02 6.61228516e-03 3.49955032e+02] [-1.32057375e-02 9.99912794e-01 -1.10876849e-04 8.01193728e+00] [-6.61317280e-03 2.35446533e-05 9.99978132e-01 -2.04938744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62439141799996 meters 0.06508823675876499 Centerline is valid? [True, True] Translation: X:350.01, Y:8.00, Z:-2.05 [[ 9.99964564e-01 5.79843272e-03 6.10317552e-03 3.50014117e+02] [-5.79791697e-03 9.99983187e-01 -1.02194185e-04 8.00087858e+00] [-6.10366548e-03 6.68048587e-05 9.99981370e-01 -2.04955489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68439141799996 meters 0.06546654208575209 Centerline is valid? [True, True] Translation: X:350.08, Y:7.99, Z:-2.05 [[ 9.99986876e-01 -1.22926090e-03 4.97353197e-03 3.50075443e+02] [ 1.22969000e-03 9.99999240e-01 -8.32187241e-05 7.99340982e+00] [-4.97342589e-03 8.93335345e-05 9.99987628e-01 -2.05108124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74439141799996 meters 0.06647603249717011 Centerline is valid? [True, True] Translation: X:350.14, Y:7.98, Z:-2.05 [[ 9.99913442e-01 -1.28162815e-02 2.97520067e-03 3.50135072e+02] [ 1.28164866e-02 9.99917864e-01 -4.98620500e-05 7.97979079e+00] [-2.97431726e-03 8.79893535e-05 9.99995573e-01 -2.05336824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80439141799997 meters 0.06622916963177412 Centerline is valid? [True, True] Translation: X:350.20, Y:7.97, Z:-2.06 [[ 9.99796227e-01 -2.00871349e-02 2.00283875e-03 3.50195770e+02] [ 2.00872423e-02 9.99798230e-01 -3.35347305e-05 7.97155434e+00] [-2.00176103e-03 7.37594044e-05 9.99997994e-01 -2.05561377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86439141799997 meters 0.06658904301872884 Centerline is valid? [True, True] Translation: X:350.26, Y:7.98, Z:-2.06 [[ 9.99661225e-01 -2.58650541e-02 2.90429149e-03 3.50256796e+02] [ 2.58653044e-02 9.99665436e-01 -4.86288490e-05 7.97530580e+00] [-2.90206203e-03 1.23732758e-04 9.99995781e-01 -2.05545074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters 0.06505027815684022 Centerline is valid? [True, True] Translation: X:350.32, Y:7.97, Z:-2.05 [[ 9.99530651e-01 -3.03098555e-02 4.44874547e-03 3.50317820e+02] [ 3.03104866e-02 9.99540529e-01 -7.44993474e-05 7.96894526e+00] [-4.44444334e-03 2.09308021e-04 9.99990102e-01 -2.05480989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters 0.0656322885011281 Centerline is valid? [True, True] Translation: X:350.38, Y:7.98, Z:-2.05 [[ 9.99505550e-01 -3.13864478e-02 1.88314788e-03 3.50377644e+02] [ 3.13865629e-02 9.99507320e-01 -3.15719449e-05 7.97687929e+00] [-1.88122916e-03 9.06618733e-05 9.99998226e-01 -2.05472914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters 0.06497775201895982 Centerline is valid? [True, True] Translation: X:350.44, Y:7.97, Z:-2.06 [[ 9.99607552e-01 -2.79493847e-02 1.89028612e-03 3.50437932e+02] [ 2.79494945e-02 9.99609336e-01 -3.16553057e-05 7.96625960e+00] [-1.88866291e-03 8.44754243e-05 9.99998213e-01 -2.05664557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters 0.06509514884662258 Centerline is valid? [True, True] Translation: X:350.50, Y:7.97, Z:-2.06 [[ 9.99731663e-01 -2.30916344e-02 1.83778925e-03 3.50497600e+02] [ 2.30917301e-02 9.99733350e-01 -3.08680695e-05 7.97071162e+00] [-1.83658641e-03 7.32975198e-05 9.99998311e-01 -2.05719701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters 0.06558225217180152 Centerline is valid? [True, True] Translation: X:350.56, Y:7.97, Z:-2.06 [[ 9.99894537e-01 -1.44375617e-02 1.57201689e-03 3.50558641e+02] [ 1.44376211e-02 9.99895772e-01 -2.64097592e-05 7.96881208e+00] [-1.57147175e-03 4.91031581e-05 9.99998764e-01 -2.05901701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters 0.06649542692910045 Centerline is valid? [True, True] Translation: X:350.62, Y:7.97, Z:-2.06 [[ 9.99987967e-01 -4.30020095e-03 2.36102621e-03 3.50618262e+02] [ 4.30030630e-03 9.99990753e-01 -3.95481073e-05 7.96986864e+00] [-2.36083431e-03 4.97007673e-05 9.99997212e-01 -2.05993346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters 0.06590354849364419 Centerline is valid? [True, True] Translation: X:350.68, Y:7.97, Z:-2.06 [[ 9.99994509e-01 2.38954150e-03 2.29610212e-03 3.50678757e+02] [-2.38945955e-03 9.99997145e-01 -3.84338979e-05 7.97256359e+00] [-2.29618741e-03 3.29472437e-05 9.99997363e-01 -2.06020824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34439141799993 meters 0.0664256548256758 Centerline is valid? [True, True] Translation: X:350.74, Y:7.98, Z:-2.06 [[ 9.99988119e-01 3.82468831e-03 3.02211823e-03 3.50739788e+02] [-3.82455265e-03 9.99992685e-01 -5.06688616e-05 7.97510052e+00] [-3.02228991e-03 3.91100093e-05 9.99995432e-01 -2.05956964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40439141799993 meters 0.0662126922877347 Centerline is valid? [True, True] Translation: X:350.80, Y:7.98, Z:-2.06 [[ 9.99993980e-01 1.48402909e-03 3.13660942e-03 3.50799912e+02] [-1.48387159e-03 9.99998898e-01 -5.25393080e-05 7.97836101e+00] [-3.13668393e-03 4.78846661e-05 9.99995079e-01 -2.05728353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46439141799993 meters 0.06534018343180402 Centerline is valid? [True, True] Translation: X:350.86, Y:7.98, Z:-2.06 [[ 9.99990886e-01 -4.15859257e-03 9.66229059e-04 3.50861024e+02] [ 4.15861008e-03 9.99991353e-01 -1.61109345e-05 7.97591501e+00] [-9.66153705e-04 2.01289576e-05 9.99999533e-01 -2.05833315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52439141799994 meters 0.06571042710038785 Centerline is valid? [True, True] Translation: X:350.92, Y:7.97, Z:-2.06 [[ 9.99961394e-01 -8.77422196e-03 4.72334924e-04 3.50920614e+02] [ 8.77422669e-03 9.99961506e-01 -7.92846687e-06 7.97339752e+00] [-4.72247176e-04 1.20725345e-05 9.99999888e-01 -2.05924784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58439141799994 meters 0.06603120177531051 Centerline is valid? [True, True] Translation: X:350.98, Y:7.97, Z:-2.06 [[ 9.99875941e-01 -1.57231827e-02 9.39928540e-04 3.50981534e+02] [ 1.57232045e-02 9.99876383e-01 -1.57481561e-05 7.97478809e+00] [-9.39564738e-04 3.05248910e-05 9.99999558e-01 -2.05817971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64439141799994 meters 0.06593111734698232 Centerline is valid? [True, True] Translation: X:351.04, Y:7.97, Z:-2.06 [[ 9.99763021e-01 -2.17229208e-02 1.41989553e-03 3.51041491e+02] [ 2.17229763e-02 9.99764028e-01 -2.36697912e-05 7.97176985e+00] [-1.41904630e-03 5.45085390e-05 9.99998992e-01 -2.05705045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70439141799994 meters 0.0664404733302 Centerline is valid? [True, True] Translation: X:351.10, Y:7.97, Z:-2.06 [[ 9.99701784e-01 -2.44042588e-02 8.80567392e-04 3.51103000e+02] [ 2.44042812e-02 9.99702171e-01 -1.47303565e-05 7.97429299e+00] [-8.79945650e-04 3.62155779e-05 9.99999612e-01 -2.05636527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76439141799995 meters 0.06579951203485811 Centerline is valid? [True, True] Translation: X:351.17, Y:7.98, Z:-2.06 [[ 9.99697450e-01 -2.45773026e-02 -9.82118546e-04 3.51165621e+02] [ 2.45773310e-02 9.99697932e-01 1.67863675e-05 7.97561663e+00] [ 9.81409316e-04 -4.09191413e-05 9.99999518e-01 -2.05609699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82439141799995 meters 0.06609277302890212 Centerline is valid? [True, True] Translation: X:351.23, Y:7.98, Z:-2.05 [[ 9.99746458e-01 -2.23971459e-02 -2.32109693e-03 3.51227757e+02] [ 2.23972978e-02 9.99749148e-01 3.94714370e-05 7.98060290e+00] [ 2.31963063e-03 -9.14477285e-05 9.99997305e-01 -2.05483812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88439141799995 meters 0.06549846429331738 Centerline is valid? [True, True] Translation: X:351.29, Y:7.99, Z:-2.05 [[ 9.99816974e-01 -1.90533569e-02 -1.72880699e-03 3.51288691e+02] [ 1.90534359e-02 9.99818466e-01 2.92388214e-05 7.98517637e+00] [ 1.72793606e-03 -6.21731831e-05 9.99998505e-01 -2.05279961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94439141799995 meters 0.06536214847520329 Centerline is valid? [True, True] Translation: X:351.35, Y:7.99, Z:-2.05 [[ 9.99864778e-01 -1.63042737e-02 -2.14372530e-03 3.51348739e+02] [ 1.63043889e-02 9.99867074e-01 3.62601782e-05 7.98695174e+00] [ 2.14284914e-03 -7.12074059e-05 9.99997702e-01 -2.05223741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00439141799995 meters 0.06702728884092121 Centerline is valid? [True, True] Translation: X:351.41, Y:7.99, Z:-2.05 [[ 9.99874472e-01 -1.56608841e-02 -2.40339349e-03 3.51410439e+02] [ 1.56610277e-02 9.99877358e-01 4.09344482e-05 7.98606299e+00] [ 2.40245767e-03 -7.85689218e-05 9.99997111e-01 -2.05204346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06439141799996 meters 0.0655763630164737 Centerline is valid? [True, True] Translation: X:351.47, Y:7.99, Z:-2.05 [[ 9.99872022e-01 -1.58986219e-02 -1.78118161e-03 3.51473131e+02] [ 1.58987013e-02 9.99873607e-01 3.04394581e-05 7.99193499e+00] [ 1.78047253e-03 -5.87540369e-05 9.99998413e-01 -2.05126077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12439141799996 meters 0.06509009367270142 Centerline is valid? [True, True] Translation: X:351.53, Y:8.00, Z:-2.05 [[ 9.99840163e-01 -1.75712673e-02 -3.30140861e-03 3.51533996e+02] [ 1.75715486e-02 9.99845607e-01 5.62173090e-05 7.99701769e+00] [ 3.29991109e-03 -1.14219185e-04 9.99994549e-01 -2.05073307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18439141799996 meters 0.0668580100378506 Centerline is valid? [True, True] Translation: X:351.59, Y:8.00, Z:-2.05 [[ 9.99806718e-01 -1.90953830e-02 -4.67898316e-03 3.51594061e+02] [ 1.90959640e-02 9.99817652e-01 7.95303207e-05 7.99514366e+00] [ 4.67661130e-03 -1.68864643e-04 9.99989050e-01 -2.05192229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24439141799996 meters 0.06521151635837151 Centerline is valid? [True, True] Translation: X:351.66, Y:8.01, Z:-2.05 [[ 9.99861317e-01 -1.61971957e-02 -3.87277388e-03 3.51655453e+02] [ 1.61975723e-02 9.99868809e-01 6.59042466e-05 8.00930752e+00] [ 3.87119835e-03 -1.28624642e-04 9.99992499e-01 -2.04837030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30439141799997 meters 0.06563732707830335 Centerline is valid? [True, True] Translation: X:351.72, Y:8.01, Z:-2.05 [[ 9.99912116e-01 -1.29991010e-02 -2.60452406e-03 3.51716157e+02] [ 1.29992607e-02 9.99915505e-01 4.43651853e-05 8.01485384e+00] [ 2.60372728e-03 -7.82181734e-05 9.99996607e-01 -2.04767153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36439141799997 meters 0.06586158662521145 Centerline is valid? [True, True] Translation: X:351.78, Y:8.01, Z:-2.05 [[ 9.99969015e-01 -7.69998192e-03 -1.63659357e-03 3.51775804e+02] [ 7.70003780e-03 9.99970354e-01 2.78455534e-05 8.01454553e+00] [ 1.63633064e-03 -4.04465230e-05 9.99998660e-01 -2.04802890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters 0.06536811716937983 Centerline is valid? [True, True] Translation: X:351.84, Y:8.02, Z:-2.05 [[ 9.99992957e-01 -3.01768764e-03 -2.23152979e-03 3.51836006e+02] [ 3.01777987e-03 9.99995446e-01 3.79671481e-05 8.01793241e+00] [ 2.23140506e-03 -4.47011464e-05 9.99997509e-01 -2.04856713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters 0.0656219915657864 Centerline is valid? [True, True] Translation: X:351.90, Y:8.03, Z:-2.05 [[ 9.99997405e-01 1.96654006e-03 -1.15038507e-03 3.51896670e+02] [-1.96651885e-03 9.99998066e-01 1.95726001e-05 8.02834626e+00] [ 1.15042133e-03 -1.73102954e-05 9.99999338e-01 -2.04532748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters 0.0655143508019569 Centerline is valid? [True, True] Translation: X:351.95, Y:8.03, Z:-2.05 [[ 9.99992020e-01 3.94194512e-03 -6.48528335e-04 3.51954979e+02] [-3.94193890e-03 9.99992230e-01 1.08548843e-05 8.02986877e+00] [ 6.48566085e-04 -8.29833860e-06 9.99999790e-01 -2.04550087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters 0.06564020834545355 Centerline is valid? [True, True] Translation: X:352.01, Y:8.03, Z:-2.05 [[ 9.99981612e-01 6.00891105e-03 -8.18216885e-04 3.52014133e+02] [-6.00890239e-03 9.99981946e-01 1.30506701e-05 8.03422353e+00] [ 8.18280534e-04 -8.13384468e-06 9.99999665e-01 -2.04530421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters 0.06638767072505584 Centerline is valid? [True, True] Translation: X:352.07, Y:8.04, Z:-2.04 [[ 9.99984289e-01 5.55129767e-03 7.77436904e-04 3.52071974e+02] [-5.55128896e-03 9.99984591e-01 -1.33563555e-05 8.03659308e+00] [-7.77499070e-04 9.04036881e-06 9.99999698e-01 -2.04474254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters 0.06470528367453394 Centerline is valid? [True, True] Translation: X:352.13, Y:8.04, Z:-2.04 [[ 9.99987315e-01 4.82709082e-03 1.43853000e-03 3.52130352e+02] [-4.82706084e-03 9.99988349e-01 -2.43098251e-05 8.03543906e+00] [-1.43863059e-03 1.73656448e-05 9.99998965e-01 -2.04485088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters 0.0655504186449456 Centerline is valid? [True, True] Translation: X:352.19, Y:8.04, Z:-2.04 [[ 9.99992741e-01 2.87619185e-03 2.49901039e-03 3.52190035e+02] [-2.87609583e-03 9.99995863e-01 -4.20166538e-05 8.03837332e+00] [-2.49912090e-03 3.48289555e-05 9.99996877e-01 -2.04331105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84439141799993 meters 0.06483463180372165 Centerline is valid? [True, True] Translation: X:352.25, Y:8.04, Z:-2.04 [[ 9.99996037e-01 1.85289373e-03 2.11967017e-03 3.52250181e+02] [-1.85282253e-03 9.99998283e-01 -3.55530438e-05 8.04012675e+00] [-2.11973241e-03 3.16255303e-05 9.99997753e-01 -2.04345879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90439141799993 meters 0.06582916617819873 Centerline is valid? [True, True] Translation: X:352.31, Y:8.05, Z:-2.04 [[ 9.99996104e-01 2.73260956e-03 5.70745504e-04 3.52310806e+02] [-2.73260455e-03 9.99996266e-01 -9.57306481e-06 8.05037492e+00] [-5.70769533e-04 8.01340575e-06 9.99999837e-01 -2.04251184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96439141799993 meters 0.06463964995742184 Centerline is valid? [True, True] Translation: X:352.37, Y:8.05, Z:-2.04 [[ 9.99977722e-01 6.66607397e-03 3.45161437e-04 3.52370501e+02] [-6.66607235e-03 9.99977782e-01 -5.83711624e-06 8.05032131e+00] [-3.45192679e-04 3.53611509e-06 9.99999940e-01 -2.04405806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02439141799994 meters 0.06598135585380963 Centerline is valid? [True, True] Translation: X:352.43, Y:8.05, Z:-2.05 [[ 9.99959826e-01 8.85716020e-03 1.37711551e-03 3.52428736e+02] [-8.85713605e-03 9.99960775e-01 -2.36339172e-05 8.05223236e+00] [-1.37727082e-03 1.14356683e-05 9.99999051e-01 -2.04607422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08439141799994 meters 0.06539517737514575 Centerline is valid? [True, True] Translation: X:352.49, Y:8.06, Z:-2.05 [[ 9.99929752e-01 1.15204145e-02 2.78779351e-03 3.52487731e+02] [-1.15203291e-02 9.99933638e-01 -4.67066210e-05 8.05529690e+00] [-2.78814659e-03 1.45870413e-05 9.99996113e-01 -2.04568876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14439141799994 meters 0.06445210770931446 Centerline is valid? [True, True] Translation: X:352.55, Y:8.06, Z:-2.05 [[ 9.99896222e-01 1.40081746e-02 3.36405469e-03 3.52546717e+02] [-1.40080657e-02 9.99901881e-01 -5.59335984e-05 8.06025784e+00] [-3.36450814e-03 8.80389477e-06 9.99994340e-01 -2.04507457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20439141799994 meters 0.06414546516356469 Centerline is valid? [True, True] Translation: X:352.61, Y:8.06, Z:-2.05 [[ 9.99917926e-01 1.23973265e-02 3.23238284e-03 3.52605259e+02] [-1.23972190e-02 9.99923150e-01 -5.32815671e-05 8.06160517e+00] [-3.23279498e-03 1.32046360e-05 9.99994774e-01 -2.04500755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26439141799995 meters 0.06556255441782444 Centerline is valid? [True, True] Translation: X:352.66, Y:8.06, Z:-2.04 [[ 9.99953807e-01 8.99835183e-03 3.37833216e-03 3.52663720e+02] [-8.99821537e-03 9.99959514e-01 -5.55905848e-05 8.06229441e+00] [-3.37869561e-03 2.51890565e-05 9.99994292e-01 -2.04438157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32439141799995 meters 0.06480325275054499 Centerline is valid? [True, True] Translation: X:352.72, Y:8.07, Z:-2.04 [[ 9.99965345e-01 7.53645514e-03 3.53717864e-03 3.52722172e+02] [-7.53629669e-03 9.99971600e-01 -5.81217719e-05 8.06869481e+00] [-3.53751622e-03 3.14625300e-05 9.99993742e-01 -2.04209927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38439141799995 meters 0.06356959097715824 Centerline is valid? [True, True] Translation: X:352.78, Y:8.07, Z:-2.04 [[ 9.99983323e-01 4.42462281e-03 3.71157047e-03 3.52781675e+02] [-4.42442765e-03 9.99990210e-01 -6.07916268e-05 8.06581483e+00] [-3.71180311e-03 4.43690381e-05 9.99993110e-01 -2.04362310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44439141799995 meters 0.06362517735930337 Centerline is valid? [True, True] Translation: X:352.84, Y:8.07, Z:-2.04 [[ 9.99989821e-01 1.24180679e-03 4.33764307e-03 3.52842094e+02] [-1.24151055e-03 9.99999227e-01 -7.09877300e-05 8.06644115e+00] [-4.33772787e-03 6.56017778e-05 9.99990590e-01 -2.04390947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50439141799995 meters 0.06372804144435143 Centerline is valid? [True, True] Translation: X:352.90, Y:8.07, Z:-2.05 [[ 9.99996234e-01 -1.77824679e-03 2.09059162e-03 3.52903738e+02] [ 1.77832207e-03 9.99998418e-01 -3.41467262e-05 8.06615900e+00] [-2.09052759e-03 3.78643428e-05 9.99997814e-01 -2.04523643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56439141799996 meters 0.06428572254879295 Centerline is valid? [True, True] Translation: X:352.96, Y:8.06, Z:-2.05 [[ 9.99987850e-01 -4.88338702e-03 6.72844820e-04 3.52963798e+02] [ 4.88339551e-03 9.99988076e-01 -1.09776391e-05 8.06014241e+00] [-6.72783189e-04 1.42632731e-05 9.99999774e-01 -2.04798469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62439141799996 meters 0.06415383746435253 Centerline is valid? [True, True] Translation: X:353.03, Y:8.07, Z:-2.05 [[ 9.99985187e-01 -5.41796315e-03 5.21973797e-04 3.53026185e+02] [ 5.41796824e-03 9.99985323e-01 -8.32380004e-06 8.06553354e+00] [-5.21921038e-04 1.11517142e-05 9.99999864e-01 -2.04607593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68439141799996 meters 0.06361649617003262 Centerline is valid? [True, True] Translation: X:353.09, Y:8.06, Z:-2.05 [[ 9.99977862e-01 -6.28652322e-03 2.18086381e-03 3.53088445e+02] [ 6.28661533e-03 9.99980238e-01 -3.53848424e-05 8.06465494e+00] [-2.18059826e-03 4.90943109e-05 9.99997621e-01 -2.04634373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74439141799996 meters 0.0639400708452806 Centerline is valid? [True, True] Translation: X:353.15, Y:8.06, Z:-2.05 [[ 9.99977701e-01 -6.10114277e-03 2.71530380e-03 3.53149820e+02] [ 6.10128706e-03 9.99981386e-01 -4.48594838e-05 8.06203406e+00] [-2.71497956e-03 6.14253314e-05 9.99996313e-01 -2.04510396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80439141799997 meters 0.06492689718783809 Centerline is valid? [True, True] Translation: X:353.21, Y:8.06, Z:-2.05 [[ 9.99987344e-01 -4.94198250e-03 9.42765988e-04 3.53211820e+02] [ 4.94199924e-03 9.99987788e-01 -1.54232298e-05 8.06152639e+00] [-9.42678254e-04 2.00821834e-05 9.99999555e-01 -2.04629861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86439141799997 meters 0.06335228912077123 Centerline is valid? [True, True] Translation: X:353.27, Y:8.06, Z:-2.05 [[ 9.99995825e-01 -2.86895603e-03 -3.44004011e-04 3.53272927e+02] [ 2.86895820e-03 9.99995885e-01 5.82252611e-06 8.06468724e+00] [ 3.43985890e-04 -6.80943492e-06 9.99999941e-01 -2.04586213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters 0.06533127246265116 Centerline is valid? [True, True] Translation: X:353.33, Y:8.07, Z:-2.05 [[ 9.99998863e-01 1.31191295e-03 -7.43386318e-04 3.53333859e+02] [-1.31190408e-03 9.99999139e-01 1.24228040e-05 8.06702206e+00] [ 7.43401976e-04 -1.14475384e-05 9.99999724e-01 -2.04717893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters 0.06452578502415349 Centerline is valid? [True, True] Translation: X:353.39, Y:8.07, Z:-2.05 [[ 9.99978575e-01 6.54541915e-03 -8.31986744e-05 3.53393476e+02] [-6.54541906e-03 9.99978579e-01 1.33283485e-06 8.06854826e+00] [ 8.32056160e-05 -7.88236100e-07 9.99999997e-01 -2.04725566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters 0.06520109637678308 Centerline is valid? [True, True] Translation: X:353.45, Y:8.07, Z:-2.05 [[ 9.99925812e-01 1.21210758e-02 1.20407694e-03 3.53452473e+02] [-1.21210603e-02 9.99926537e-01 -2.01925277e-05 8.07311932e+00] [-1.20423324e-03 5.59634053e-06 9.99999275e-01 -2.04535448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters 0.06498302551376209 Centerline is valid? [True, True] Translation: X:353.51, Y:8.07, Z:-2.05 [[ 9.99911561e-01 1.31856671e-02 1.73433209e-03 3.53510036e+02] [-1.31856367e-02 9.99913065e-01 -2.89716651e-05 8.07370116e+00] [-1.73456333e-03 6.10083001e-06 9.99998496e-01 -2.04638021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters 0.06576588410792109 Centerline is valid? [True, True] Translation: X:353.57, Y:8.07, Z:-2.05 [[ 9.99912557e-01 1.32227677e-02 -1.93939871e-04 3.53568876e+02] [-1.32227674e-02 9.99912575e-01 2.82650582e-06 8.07492716e+00] [ 1.93960290e-04 -2.61836844e-07 9.99999981e-01 -2.04587618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters 0.06537216301193323 Centerline is valid? [True, True] Translation: X:353.63, Y:8.07, Z:-2.05 [[ 9.99953305e-01 9.58814517e-03 -1.20597636e-03 3.53627830e+02] [-9.58812837e-03 9.99954033e-01 1.97068516e-05 8.07357336e+00] [ 1.20610987e-03 -8.14287528e-06 9.99999273e-01 -2.04649779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters 0.06442067599000982 Centerline is valid? [True, True] Translation: X:353.69, Y:8.07, Z:-2.05 [[ 9.99974888e-01 6.87155784e-03 -1.73358085e-03 3.53686966e+02] [-6.87151914e-03 9.99976390e-01 2.82831037e-05 8.07292988e+00] [ 1.73373427e-03 -1.63700594e-05 9.99998497e-01 -2.04649985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34439141799993 meters 0.06583726637696377 Centerline is valid? [True, True] Translation: X:353.75, Y:8.08, Z:-2.04 [[ 9.99993150e-01 2.88904648e-03 -2.31363240e-03 3.53745971e+02] [-2.88896673e-03 9.99995826e-01 3.78111073e-05 8.07569782e+00] [ 2.31373198e-03 -3.11268413e-05 9.99997323e-01 -2.04420979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40439141799993 meters 0.06442098926138688 Centerline is valid? [True, True] Translation: X:353.80, Y:8.07, Z:-2.05 [[ 9.99999557e-01 -8.59725679e-04 -3.82216930e-04 3.53804955e+02] [ 8.59728097e-04 9.99999630e-01 6.16278656e-06 8.06938517e+00] [ 3.82211491e-04 -6.49138646e-06 9.99999927e-01 -2.04549284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46439141799993 meters 0.06457390850472394 Centerline is valid? [True, True] Translation: X:353.86, Y:8.07, Z:-2.05 [[ 9.99993203e-01 -3.61237977e-03 -7.37975712e-04 3.53864923e+02] [ 3.61238968e-03 9.99993475e-01 1.20970479e-05 8.06586886e+00] [ 7.37927198e-04 -1.47628215e-05 9.99999728e-01 -2.04641313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52439141799994 meters 0.06556557471544852 Centerline is valid? [True, True] Translation: X:353.93, Y:8.06, Z:-2.05 [[ 9.99986940e-01 -4.73218586e-03 -1.93020489e-03 3.53925729e+02] [ 4.73225738e-03 9.99988802e-01 3.24888936e-05 8.06116870e+00] [ 1.93002953e-03 -4.16226956e-05 9.99998137e-01 -2.04916440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58439141799994 meters 0.0644384006800656 Centerline is valid? [True, True] Translation: X:353.99, Y:8.07, Z:-2.05 [[ 9.99981704e-01 -5.13791461e-03 -3.19277069e-03 3.53986900e+02] [ 5.13810948e-03 9.99986798e-01 5.28339659e-05 8.06628844e+00] [ 3.19245708e-03 -6.92378045e-05 9.99994902e-01 -2.04746717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64439141799994 meters 0.06450629329052722 Centerline is valid? [True, True] Translation: X:354.05, Y:8.06, Z:-2.05 [[ 9.99982931e-01 -4.84648330e-03 -3.26340910e-03 3.54046752e+02] [ 4.84668586e-03 9.99988253e-01 5.41631532e-05 8.06174060e+00] [ 3.26310826e-03 -6.99789474e-05 9.99994674e-01 -2.04955149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70439141799994 meters 0.06532415677824872 Centerline is valid? [True, True] Translation: X:354.11, Y:8.06, Z:-2.05 [[ 9.99987731e-01 -4.06166410e-03 -2.83557330e-03 3.54107909e+02] [ 4.06181388e-03 9.99991750e-01 4.70657762e-05 8.06446278e+00] [ 2.83535874e-03 -5.85827698e-05 9.99995979e-01 -2.04805953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76439141799995 meters 0.06567489408149242 Centerline is valid? [True, True] Translation: X:354.17, Y:8.08, Z:-2.04 [[ 9.99992589e-01 -2.22225942e-03 -3.14378489e-03 3.54168538e+02] [ 2.22243510e-03 9.99997529e-01 5.23900901e-05 8.07548393e+00] [ 3.14366070e-03 -5.93765597e-05 9.99995057e-01 -2.04161353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82439141799995 meters 0.06583286678944131 Centerline is valid? [True, True] Translation: X:354.23, Y:8.07, Z:-2.04 [[ 9.99997426e-01 5.39412176e-04 -2.20395117e-03 3.54228357e+02] [-5.39332867e-04 9.99999854e-01 3.65791479e-05 8.06984550e+00] [ 2.20397058e-03 -3.53903905e-05 9.99997571e-01 -2.04290867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88439141799995 meters 0.06664173837737948 Centerline is valid? [True, True] Translation: X:354.29, Y:8.07, Z:-2.04 [[ 9.99997151e-01 1.46357076e-03 -1.88572965e-03 3.54288001e+02] [-1.46351456e-03 9.99998929e-01 3.11846337e-05 8.06911045e+00] [ 1.88577327e-03 -2.84247520e-05 9.99998222e-01 -2.04224462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94439141799995 meters 0.06658819462579399 Centerline is valid? [True, True] Translation: X:354.35, Y:8.07, Z:-2.04 [[ 9.99997547e-01 -7.91796901e-04 -2.06878344e-03 3.54347460e+02] [ 7.91869328e-04 9.99999686e-01 3.41904693e-05 8.06840316e+00] [ 2.06875572e-03 -3.58285916e-05 9.99997859e-01 -2.04150131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00439141799995 meters 0.06634613068725426 Centerline is valid? [True, True] Translation: X:354.41, Y:8.05, Z:-2.05 [[ 9.99991378e-01 -3.27040617e-03 -2.55911787e-03 3.54406814e+02] [ 3.27052538e-03 9.99994651e-01 4.24006584e-05 8.04797139e+00] [ 2.55896551e-03 -5.07699527e-05 9.99996725e-01 -2.05096311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06439141799996 meters 0.06572267643532205 Centerline is valid? [True, True] Translation: X:354.47, Y:8.04, Z:-2.05 [[ 9.99963264e-01 -7.91308455e-03 -3.29444129e-03 3.54467576e+02] [ 7.91330736e-03 9.99968688e-01 5.46020327e-05 8.04260563e+00] [ 3.29390607e-03 -8.06699534e-05 9.99994572e-01 -2.05316800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12439141799996 meters 0.06542546614366664 Centerline is valid? [True, True] Translation: X:354.53, Y:8.04, Z:-2.05 [[ 9.99939465e-01 -1.06991138e-02 -2.56810176e-03 3.54528652e+02] [ 1.06992585e-02 9.99942760e-01 4.26222198e-05 8.03908701e+00] [ 2.56749874e-03 -7.00964241e-05 9.99996702e-01 -2.05455977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18439141799996 meters 0.06521335167558195 Centerline is valid? [True, True] Translation: X:354.59, Y:8.05, Z:-2.05 [[ 9.99941462e-01 -1.08124640e-02 4.03833523e-04 3.54591440e+02] [ 1.08124675e-02 9.99941544e-01 -6.45376194e-06 8.04730518e+00] [-4.03740135e-04 1.08198210e-05 9.99999918e-01 -2.05206980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24439141799996 meters 0.06507994837157399 Centerline is valid? [True, True] Translation: X:354.65, Y:8.04, Z:-2.05 [[ 9.99956491e-01 -9.27600492e-03 9.86175426e-04 3.54652272e+02] [ 9.27602550e-03 9.99956977e-01 -1.63048990e-05 8.04417616e+00] [-9.85981754e-04 2.54519780e-05 9.99999514e-01 -2.05241890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30439141799997 meters 0.06506258958764206 Centerline is valid? [True, True] Translation: X:354.71, Y:8.05, Z:-2.05 [[ 9.99982359e-01 -4.67388970e-03 3.66548642e-03 3.54712897e+02] [ 4.67414454e-03 9.99989074e-01 -6.09596590e-05 8.04648706e+00] [-3.66516145e-03 7.80915969e-05 9.99993280e-01 -2.05175213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36439141799997 meters 0.0655649592358138 Centerline is valid? [True, True] Translation: X:354.77, Y:8.05, Z:-2.05 [[ 9.99996847e-01 -1.13463711e-03 2.24022212e-03 3.54773817e+02] [ 1.13472338e-03 9.99999356e-01 -3.72381436e-05 8.05046013e+00] [-2.24017843e-03 3.97800586e-05 9.99997490e-01 -2.05134604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters 0.06495471299545302 Centerline is valid? [True, True] Translation: X:354.84, Y:8.06, Z:-2.05 [[ 9.99994698e-01 1.35717481e-03 2.96008859e-03 3.54835504e+02] [-1.35703487e-03 9.99999078e-01 -4.92847580e-05 8.05617976e+00] [-2.96015275e-03 4.52675533e-05 9.99995618e-01 -2.05071811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters 0.0651627242564663 Centerline is valid? [True, True] Translation: X:354.90, Y:8.06, Z:-2.05 [[ 9.99989734e-01 3.62813919e-03 2.71467526e-03 3.54895707e+02] [-3.62802968e-03 9.99993418e-01 -4.52646786e-05 8.06318598e+00] [-2.71482162e-03 3.54152915e-05 9.99996314e-01 -2.04909149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters 0.06522821592727727 Centerline is valid? [True, True] Translation: X:354.96, Y:8.07, Z:-2.05 [[ 9.99955155e-01 8.12415444e-03 4.86683551e-03 3.54955850e+02] [-8.12385521e-03 9.99966998e-01 -8.12491787e-05 8.06630783e+00] [-4.86733497e-03 4.17080682e-05 9.99988154e-01 -2.04983261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters 0.0661181124775799 Centerline is valid? [True, True] Translation: X:355.01, Y:8.07, Z:-2.05 [[ 9.99945444e-01 9.00385626e-03 5.29521207e-03 3.55014266e+02] [-9.00351423e-03 9.99959464e-01 -8.84271329e-05 8.07050589e+00] [-5.29579361e-03 4.07467915e-05 9.99985976e-01 -2.04768300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters 0.06456460394015173 Centerline is valid? [True, True] Translation: X:355.07, Y:8.07, Z:-2.05 [[ 9.99966066e-01 5.58498277e-03 6.05604276e-03 3.55074159e+02] [-5.58447706e-03 9.99984402e-01 -1.00411923e-04 8.06833997e+00] [-6.05650909e-03 6.65886836e-05 9.99981657e-01 -2.04814715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters 0.06567782622669821 Centerline is valid? [True, True] Translation: X:355.13, Y:8.07, Z:-2.05 [[ 9.99980405e-01 2.84908109e-03 5.57431707e-03 3.55134793e+02] [-2.84861039e-03 9.99995938e-01 -9.23788093e-05 8.06857452e+00] [-5.57455762e-03 7.64979417e-05 9.99984459e-01 -2.04993626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters 0.0667920446111513 Centerline is valid? [True, True] Translation: X:355.20, Y:8.07, Z:-2.05 [[ 9.99987591e-01 2.09131871e-03 4.52158764e-03 3.55195690e+02] [-2.09100132e-03 9.99997811e-01 -7.49202056e-05 8.07410509e+00] [-4.52173442e-03 6.54646302e-05 9.99989775e-01 -2.04895834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84439141799993 meters 0.06619888093889154 Centerline is valid? [True, True] Translation: X:355.26, Y:8.09, Z:-2.05 [[ 9.99988588e-01 3.36559634e-04 4.76567292e-03 3.55256433e+02] [-3.36186928e-04 9.99999940e-01 -7.90073512e-05 8.08573205e+00] [-4.76569922e-03 7.74042926e-05 9.99988641e-01 -2.04732261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90439141799993 meters 0.06678574652007653 Centerline is valid? [True, True] Translation: X:355.32, Y:8.08, Z:-2.05 [[ 9.99983027e-01 -2.49277084e-03 5.26609137e-03 3.55316597e+02] [ 2.49326538e-03 9.99996888e-01 -8.73475950e-05 8.08363115e+00] [-5.26585724e-03 1.00475876e-04 9.99986130e-01 -2.04701380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96439141799993 meters 0.06704752026441735 Centerline is valid? [True, True] Translation: X:355.38, Y:8.08, Z:-2.05 [[ 9.99970138e-01 -6.20203413e-03 4.61065348e-03 3.55376259e+02] [ 6.20245288e-03 9.99980762e-01 -7.65293221e-05 8.08134162e+00] [-4.61009015e-03 1.05124398e-04 9.99989368e-01 -2.04736670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02439141799994 meters 0.06694262579008584 Centerline is valid? [True, True] Translation: X:355.44, Y:8.09, Z:-2.05 [[ 9.99962594e-01 -8.36009696e-03 2.21808804e-03 3.55437691e+02] [ 8.36019917e-03 9.99965052e-01 -3.68107039e-05 8.08796339e+00] [-2.21770278e-03 5.53529847e-05 9.99997539e-01 -2.05019138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08439141799994 meters 0.06850597969720025 Centerline is valid? [True, True] Translation: X:355.50, Y:8.08, Z:-2.05 [[ 9.99932052e-01 -1.16412290e-02 6.10189114e-04 3.55497552e+02] [ 1.16412374e-02 9.99932238e-01 -1.01530068e-05 8.08418889e+00] [-6.10029574e-04 1.72556733e-05 9.99999814e-01 -2.05323725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14439141799994 meters 0.06672909568573158 Centerline is valid? [True, True] Translation: X:355.56, Y:8.09, Z:-2.05 [[ 9.99902271e-01 -1.36682386e-02 2.93740992e-03 3.55560194e+02] [ 1.36684407e-02 9.99906581e-01 -4.87473313e-05 8.09203347e+00] [-2.93646922e-03 8.88923807e-05 9.99995685e-01 -2.05147046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20439141799994 meters 0.06640285154810383 Centerline is valid? [True, True] Translation: X:355.62, Y:8.10, Z:-2.05 [[ 9.99901828e-01 -1.37153661e-02 2.86748872e-03 3.55621715e+02] [ 1.37155593e-02 9.99905936e-01 -4.77532481e-05 8.09565785e+00] [-2.86656404e-03 8.70777717e-05 9.99995888e-01 -2.05183173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26439141799995 meters 0.06873461906514788 Centerline is valid? [True, True] Translation: X:355.68, Y:8.09, Z:-2.05 [[ 9.99924149e-01 -1.22869985e-02 8.52344950e-04 3.55682832e+02] [ 1.22870150e-02 9.99924512e-01 -1.41258471e-05 8.08625559e+00] [-8.52107044e-04 2.45975509e-05 9.99999637e-01 -2.05463758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32439141799995 meters 0.06766181920821644 Centerline is valid? [True, True] Translation: X:355.74, Y:8.09, Z:-2.06 [[ 9.99953322e-01 -9.66061896e-03 1.59319567e-04 3.55743410e+02] [ 9.66061951e-03 9.99953335e-01 -2.66508886e-06 8.08776594e+00] [-1.59286386e-04 4.20409019e-06 9.99999987e-01 -2.05553329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38439141799995 meters 0.06844811003011987 Centerline is valid? [True, True] Translation: X:355.80, Y:8.08, Z:-2.06 [[ 9.99985905e-01 -5.26901756e-03 -6.54258744e-04 3.55804244e+02] [ 5.26902585e-03 9.99986119e-01 1.09526284e-05 8.08429183e+00] [ 6.54191953e-04 -1.43997803e-05 9.99999786e-01 -2.05906899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44439141799995 meters 0.06867428148544845 Centerline is valid? [True, True] Translation: X:355.87, Y:8.09, Z:-2.06 [[ 9.99999001e-01 1.31166287e-03 -5.26718635e-04 3.55865046e+02] [-1.31165841e-03 9.99999140e-01 8.81050888e-06 8.08674085e+00] [ 5.26729738e-04 -8.11962514e-06 9.99999861e-01 -2.06030193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50439141799995 meters 0.06944635280038589 Centerline is valid? [True, True] Translation: X:355.92, Y:8.08, Z:-2.06 [[ 9.99979713e-01 6.34771352e-03 5.29574081e-04 3.55924639e+02] [-6.34770968e-03 9.99979853e-01 -8.93205874e-06 8.08238852e+00] [-5.29620110e-04 5.57029503e-06 9.99999860e-01 -2.06201187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56439141799996 meters 0.0693536321863918 Centerline is valid? [True, True] Translation: X:355.98, Y:8.08, Z:-2.06 [[ 9.99967154e-01 8.03479061e-03 1.06477423e-03 3.55983675e+02] [-8.03477572e-03 9.99967721e-01 -1.82586983e-05 8.07936640e+00] [-1.06488656e-03 9.70287650e-06 9.99999433e-01 -2.06402828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62439141799996 meters 0.0694445702024233 Centerline is valid? [True, True] Translation: X:356.04, Y:8.08, Z:-2.07 [[ 9.99916783e-01 1.28492463e-02 1.15082818e-03 3.56042851e+02] [-1.28492327e-02 9.99917445e-01 -1.92590947e-05 8.08176423e+00] [-1.15098064e-03 4.47023288e-06 9.99999338e-01 -2.06547342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68439141799996 meters 0.06929575706663259 Centerline is valid? [True, True] Translation: X:356.10, Y:8.08, Z:-2.07 [[ 9.99902264e-01 1.39289346e-02 1.20335995e-03 3.56100764e+02] [-1.39289201e-02 9.99902988e-01 -2.04826257e-05 8.08135338e+00] [-1.20352851e-03 3.71911924e-06 9.99999276e-01 -2.06636377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74439141799996 meters 0.06974178799265372 Centerline is valid? [True, True] Translation: X:356.16, Y:8.08, Z:-2.06 [[ 9.99896215e-01 1.43576728e-02 1.19045316e-03 3.56158383e+02] [-1.43576590e-02 9.99896923e-01 -2.01432859e-05 8.08097735e+00] [-1.19061967e-03 3.04907471e-06 9.99999291e-01 -2.06497942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80439141799997 meters 0.0685082622981727 Centerline is valid? [True, True] Translation: X:356.22, Y:8.08, Z:-2.06 [[ 9.99881802e-01 1.51915979e-02 2.36584281e-03 3.56217526e+02] [-1.51915479e-02 9.99884601e-01 -3.91005696e-05 8.08065025e+00] [-2.36616379e-03 3.15513360e-06 9.99997201e-01 -2.06379318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86439141799997 meters 0.06848939569971081 Centerline is valid? [True, True] Translation: X:356.28, Y:8.08, Z:-2.06 [[ 9.99914283e-01 1.28283678e-02 2.61923896e-03 3.56276088e+02] [-1.28282998e-02 9.99917713e-01 -4.27594984e-05 8.07795309e+00] [-2.61957196e-03 9.15545055e-06 9.99996569e-01 -2.06429276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters 0.06869717676424979 Centerline is valid? [True, True] Translation: X:356.33, Y:8.07, Z:-2.07 [[ 9.99940950e-01 1.05515857e-02 2.60003688e-03 3.56334955e+02] [-1.05515112e-02 9.99944330e-01 -4.23781649e-05 8.07316645e+00] [-2.60033930e-03 1.49413443e-05 9.99996619e-01 -2.06677012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters 0.06873846309585031 Centerline is valid? [True, True] Translation: X:356.39, Y:8.07, Z:-2.07 [[ 9.99975483e-01 6.76049023e-03 1.82484421e-03 3.56394671e+02] [-6.76044731e-03 9.99977147e-01 -2.96868186e-05 8.06832371e+00] [-1.82500320e-03 1.73493276e-05 9.99998335e-01 -2.06703740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters 0.06841229724603942 Centerline is valid? [True, True] Translation: X:356.45, Y:8.06, Z:-2.07 [[ 9.99981962e-01 5.37186261e-03 2.68677944e-03 3.56453716e+02] [-5.37176464e-03 9.99985571e-01 -4.36797000e-05 8.06432069e+00] [-2.68697531e-03 2.92461654e-05 9.99996390e-01 -2.06652364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters 0.06835102780119724 Centerline is valid? [True, True] Translation: X:356.51, Y:8.06, Z:-2.07 [[ 9.99979379e-01 5.42844181e-03 3.43128140e-03 3.56513438e+02] [-5.42828293e-03 9.99985265e-01 -5.56136821e-05 8.06236123e+00] [-3.43153274e-03 3.69865690e-05 9.99994112e-01 -2.06610801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters 0.06804231926228964 Centerline is valid? [True, True] Translation: X:356.57, Y:8.06, Z:-2.06 [[ 9.99968512e-01 6.96201596e-03 3.80859820e-03 3.56572837e+02] [-6.96183157e-03 9.99975764e-01 -6.16698532e-05 8.06419827e+00] [-3.80893524e-03 3.51530922e-05 9.99992745e-01 -2.06484682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters 0.06808265094380418 Centerline is valid? [True, True] Translation: X:356.63, Y:8.06, Z:-2.06 [[ 9.99950276e-01 8.91471088e-03 4.46913964e-03 3.56631545e+02] [-8.91447626e-03 9.99960263e-01 -7.24155569e-05 8.06038336e+00] [-4.46960761e-03 3.25719169e-05 9.99990011e-01 -2.06329994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters 0.06788384071107964 Centerline is valid? [True, True] Translation: X:356.69, Y:8.06, Z:-2.06 [[ 9.99905527e-01 1.30637914e-02 4.27486458e-03 3.56690159e+02] [-1.30636163e-02 9.99914665e-01 -6.88946421e-05 8.05791842e+00] [-4.27539981e-03 1.30429428e-05 9.99990860e-01 -2.06355628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34439141799993 meters 0.06891082085718388 Centerline is valid? [True, True] Translation: X:356.75, Y:8.06, Z:-2.06 [[ 9.99854567e-01 1.61132897e-02 5.58639010e-03 3.56748761e+02] [-1.61130421e-02 9.99870173e-01 -8.93408582e-05 8.05811934e+00] [-5.58710441e-03 -6.85873741e-07 9.99984392e-01 -2.06316563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40439141799993 meters 0.06829082081873386 Centerline is valid? [True, True] Translation: X:356.81, Y:8.06, Z:-2.06 [[ 9.99818699e-01 1.85322816e-02 4.37295696e-03 3.56807066e+02] [-1.85321547e-02 9.99828262e-01 -6.95518710e-05 8.05620185e+00] [-4.37349491e-03 -1.15010534e-05 9.99990436e-01 -2.06354231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46439141799993 meters 0.06789853430408808 Centerline is valid? [True, True] Translation: X:356.87, Y:8.06, Z:-2.07 [[ 9.99783134e-01 2.06087708e-02 2.99400554e-03 3.56865885e+02] [-2.06087202e-02 9.99787617e-01 -4.77638005e-05 8.05537224e+00] [-2.99435402e-03 -1.39491803e-05 9.99995517e-01 -2.06527356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52439141799994 meters 0.06802411424898305 Centerline is valid? [True, True] Translation: X:356.92, Y:8.05, Z:-2.06 [[ 9.99825224e-01 1.82413834e-02 4.09551378e-03 3.56924842e+02] [-1.82412717e-02 9.99833612e-01 -6.46226278e-05 8.05076163e+00] [-4.09601114e-03 -1.00960463e-05 9.99991611e-01 -2.06421955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58439141799994 meters 0.06793136649502768 Centerline is valid? [True, True] Translation: X:356.98, Y:8.04, Z:-2.06 [[ 9.99901087e-01 1.31118089e-02 5.08883101e-03 3.56983539e+02] [-1.31115709e-02 9.99914036e-01 -8.01222923e-05 8.04249304e+00] [-5.08944410e-03 1.33917985e-05 9.99987049e-01 -2.06268409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64439141799994 meters 0.0672649982113282 Centerline is valid? [True, True] Translation: X:357.04, Y:8.04, Z:-2.06 [[ 9.99929396e-01 1.04570021e-02 5.64403270e-03 3.57042179e+02] [-1.04566680e-02 9.99945324e-01 -8.86966511e-05 8.03788998e+00] [-5.64465160e-03 2.96726124e-05 9.99984068e-01 -2.06130115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70439141799994 meters 0.0678866318351235 Centerline is valid? [True, True] Translation: X:357.10, Y:8.03, Z:-2.06 [[ 9.99970350e-01 6.06317981e-03 4.74731653e-03 3.57101258e+02] [-6.06289446e-03 9.99981618e-01 -7.44956709e-05 8.02997986e+00] [-4.74768095e-03 4.57109829e-05 9.99988729e-01 -2.05964364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76439141799995 meters 0.06734456055077409 Centerline is valid? [True, True] Translation: X:357.16, Y:8.02, Z:-2.06 [[ 9.99986719e-01 3.72894065e-03 3.55778660e-03 3.57160785e+02] [-3.72876582e-03 9.99993047e-01 -5.57722680e-05 8.02135893e+00] [-3.55796984e-03 4.25053742e-05 9.99993670e-01 -2.06078818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82439141799995 meters 0.06755943040382958 Centerline is valid? [True, True] Translation: X:357.22, Y:8.02, Z:-2.06 [[ 9.99988952e-01 3.56196595e-03 3.06715840e-03 3.57221482e+02] [-3.56183544e-03 9.99993656e-01 -4.80123482e-05 8.01940227e+00] [-3.06730996e-03 3.70871043e-05 9.99995295e-01 -2.06147815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88439141799995 meters 0.06869380618699274 Centerline is valid? [True, True] Translation: X:357.28, Y:8.02, Z:-2.06 [[ 9.99992921e-01 3.21173919e-03 1.96021977e-03 3.57281510e+02] [-3.21168521e-03 9.99994842e-01 -3.06846736e-05 8.01545432e+00] [-1.96030821e-03 2.43888475e-05 9.99998078e-01 -2.06180367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94439141799995 meters 0.0684362558603416 Centerline is valid? [True, True] Translation: X:357.34, Y:8.01, Z:-2.06 [[ 9.99983654e-01 4.96707420e-03 2.83178843e-03 3.57341328e+02] [-4.96696846e-03 9.99987664e-01 -4.43701560e-05 8.00873543e+00] [-2.83197388e-03 3.03040269e-05 9.99995989e-01 -2.06096647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00439141799995 meters 0.06876152403317826 Centerline is valid? [True, True] Translation: X:357.40, Y:8.01, Z:-2.06 [[ 9.99957674e-01 8.61070015e-03 3.24117442e-03 3.57400757e+02] [-8.61058095e-03 9.99962927e-01 -5.07301409e-05 8.00672506e+00] [-3.24149108e-03 2.28195990e-05 9.99994746e-01 -2.05953267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06439141799996 meters 0.06880405898249041 Centerline is valid? [True, True] Translation: X:357.46, Y:8.01, Z:-2.06 [[ 9.99925498e-01 1.17202070e-02 3.41112302e-03 3.57459446e+02] [-1.17200925e-02 9.99931316e-01 -5.35480515e-05 8.00528144e+00] [-3.41151632e-03 1.35653848e-05 9.99994181e-01 -2.05883408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12439141799996 meters 0.06876778644889356 Centerline is valid? [True, True] Translation: X:357.52, Y:8.00, Z:-2.06 [[ 9.99870618e-01 1.57900057e-02 3.06974749e-03 3.57518389e+02] [-1.57899328e-02 9.99875330e-01 -4.79599330e-05 8.00166090e+00] [-3.07012208e-03 -5.17378941e-07 9.99995287e-01 -2.05932979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18439141799996 meters 0.06999788897731307 Centerline is valid? [True, True] Translation: X:357.58, Y:8.00, Z:-2.06 [[ 9.99754910e-01 2.19751174e-02 2.68594136e-03 3.57577116e+02] [-2.19750844e-02 9.99758518e-01 -4.17840419e-05 8.00280364e+00] [-2.68621097e-03 -1.72499871e-05 9.99996392e-01 -2.05857959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24439141799996 meters 0.07013702459987035 Centerline is valid? [True, True] Translation: X:357.64, Y:8.00, Z:-2.06 [[ 9.99636544e-01 2.67524140e-02 3.32995812e-03 3.57636345e+02] [-2.67523919e-02 9.99642089e-01 -5.11869141e-05 8.00167777e+00] [-3.33013567e-03 -3.79160348e-05 9.99994454e-01 -2.05663722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30439141799997 meters 0.0697011936197754 Centerline is valid? [True, True] Translation: X:357.70, Y:8.00, Z:-2.05 [[ 9.99470216e-01 3.23035912e-02 3.97055285e-03 3.57696145e+02] [-3.23036043e-02 9.99478101e-01 -6.08471211e-05 7.99790735e+00] [-3.97044620e-03 -6.74482828e-05 9.99992115e-01 -2.05440034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36439141799997 meters 0.07001355608376016 Centerline is valid? [True, True] Translation: X:357.76, Y:8.00, Z:-2.05 [[ 9.99320694e-01 3.66576737e-02 3.79015184e-03 3.57755841e+02] [-3.66577171e-02 9.99327878e-01 -5.80532071e-05 7.99851689e+00] [-3.78973249e-03 -8.09245425e-05 9.99992816e-01 -2.05391162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters 0.07044849620688624 Centerline is valid? [True, True] Translation: X:357.82, Y:8.00, Z:-2.05 [[ 9.99306439e-01 3.70751409e-02 3.47497982e-03 3.57815043e+02] [-3.70751793e-02 9.99312478e-01 -5.34114440e-05 7.99909021e+00] [-3.47457093e-03 -7.54610997e-05 9.99993961e-01 -2.05443630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters 0.07061039845563853 Centerline is valid? [True, True] Translation: X:357.87, Y:7.99, Z:-2.05 [[ 9.99321003e-01 3.66932456e-02 3.33751540e-03 3.57874156e+02] [-3.66932798e-02 9.99326574e-01 -5.10107332e-05 7.99210387e+00] [-3.33713958e-03 -7.14882895e-05 9.99994429e-01 -2.05429782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters 0.07044705564931314 Centerline is valid? [True, True] Translation: X:357.93, Y:7.99, Z:-2.05 [[ 9.99335089e-01 3.61669755e-02 4.61837115e-03 3.57932804e+02] [-3.61670383e-02 9.99345756e-01 -6.99441847e-05 7.98825792e+00] [-4.61787928e-03 -9.71351283e-05 9.99989333e-01 -2.05335174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters 0.07092269335788037 Centerline is valid? [True, True] Translation: X:357.99, Y:7.98, Z:-2.05 [[ 9.99378207e-01 3.50109589e-02 4.17511322e-03 3.57991874e+02] [-3.50110020e-02 9.99386925e-01 -6.27750776e-05 7.98429517e+00] [-4.17475138e-03 -8.34388530e-05 9.99991282e-01 -2.05279813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters 0.06971205758497065 Centerline is valid? [True, True] Translation: X:358.05, Y:7.97, Z:-2.05 [[ 9.99463978e-01 3.25817337e-02 3.19186826e-03 3.58050730e+02] [-3.25817466e-02 9.99469073e-01 -4.79438427e-05 7.97482709e+00] [-3.19173570e-03 -5.60784991e-05 9.99994905e-01 -2.05150972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters 0.07021072148565649 Centerline is valid? [True, True] Translation: X:358.11, Y:7.97, Z:-2.05 [[ 9.99536954e-01 3.02786286e-02 3.01353405e-03 3.58110115e+02] [-3.02786300e-02 9.99541496e-01 -4.51753277e-05 7.97364513e+00] [-3.01352018e-03 -4.60912728e-05 9.99995458e-01 -2.05306476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters 0.06926793942377792 Centerline is valid? [True, True] Translation: X:358.17, Y:7.97, Z:-2.05 [[ 9.99575684e-01 2.87745813e-02 4.52489597e-03 3.58169298e+02] [-2.87745697e-02 9.99585924e-01 -6.76819992e-05 7.97285267e+00] [-4.52496984e-03 -6.25486538e-05 9.99989760e-01 -2.05228064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84439141799993 meters 0.07106222057434071 Centerline is valid? [True, True] Translation: X:358.23, Y:7.97, Z:-2.05 [[ 9.99607580e-01 2.74962199e-02 5.35196424e-03 3.58227844e+02] [-2.74961860e-02 9.99621905e-01 -7.99292234e-05 7.97410896e+00] [-5.35213844e-03 -6.72607468e-05 9.99985675e-01 -2.05215133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90439141799993 meters 0.07016166233689881 Centerline is valid? [True, True] Translation: X:358.29, Y:7.96, Z:-2.05 [[ 9.99617531e-01 2.70962929e-02 5.53014562e-03 3.58286355e+02] [-2.70962514e-02 9.99632826e-01 -8.24384434e-05 7.96413876e+00] [-5.53034887e-03 -6.74393026e-05 9.99984705e-01 -2.05202644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96439141799993 meters 0.07088177362947082 Centerline is valid? [True, True] Translation: X:358.34, Y:7.96, Z:-2.05 [[ 9.99577068e-01 2.86421982e-02 5.03090305e-03 3.58344674e+02] [-2.86421840e-02 9.99589726e-01 -7.48837789e-05 7.96473344e+00] [-5.03098384e-03 -6.92439428e-05 9.99987342e-01 -2.05241917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02439141799994 meters 0.07057400650133437 Centerline is valid? [True, True] Translation: X:358.40, Y:7.97, Z:-2.05 [[ 9.99505764e-01 3.09260301e-02 5.63993289e-03 3.58404522e+02] [-3.09260498e-02 9.99521672e-01 -8.37306148e-05 7.96803971e+00] [-5.63982461e-03 -9.07316135e-05 9.99984092e-01 -2.05262352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08439141799994 meters 0.07150805769213019 Centerline is valid? [True, True] Translation: X:358.46, Y:7.97, Z:-2.05 [[ 9.99483830e-01 3.15123496e-02 6.24866826e-03 3.58463573e+02] [-3.15123860e-02 9.99503357e-01 -9.26579965e-05 7.96750716e+00] [-6.24848478e-03 -1.04300277e-04 9.99980473e-01 -2.05254718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14439141799994 meters 0.07014666412982723 Centerline is valid? [True, True] Translation: X:358.52, Y:7.96, Z:-2.05 [[ 9.99493769e-01 3.09222712e-02 7.48461575e-03 3.58522656e+02] [-3.09223122e-02 9.99521785e-01 -1.10277488e-04 7.96317019e+00] [-7.48444652e-03 -1.21219962e-04 9.99971984e-01 -2.05168074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20439141799994 meters 0.07067261880976737 Centerline is valid? [True, True] Translation: X:358.58, Y:7.96, Z:-2.05 [[ 9.99536421e-01 2.93193073e-02 8.20494173e-03 3.58581259e+02] [-2.93193044e-02 9.99570090e-01 -1.20657934e-04 7.96124231e+00] [-8.20495195e-03 -1.19961185e-04 9.99966332e-01 -2.05107808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26439141799995 meters 0.07033787434985098 Centerline is valid? [True, True] Translation: X:358.64, Y:7.96, Z:-2.05 [[ 9.99573630e-01 2.82350233e-02 7.43922266e-03 3.58640502e+02] [-2.82349922e-02 9.99601307e-01 -1.09224808e-04 7.95668360e+00] [-7.43934066e-03 -1.00868155e-04 9.99972323e-01 -2.05185425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32439141799995 meters 0.06990178801442766 Centerline is valid? [True, True] Translation: X:358.70, Y:7.96, Z:-2.05 [[ 9.99571297e-01 2.85018540e-02 6.69828954e-03 3.58698893e+02] [-2.85018359e-02 9.99593735e-01 -9.81752535e-05 7.95759252e+00] [-6.69836644e-03 -9.27803838e-05 9.99977561e-01 -2.05291967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38439141799995 meters 0.06951200587273533 Centerline is valid? [True, True] Translation: X:358.76, Y:7.96, Z:-2.05 [[ 9.99595761e-01 2.75375457e-02 7.07087672e-03 3.58757400e+02] [-2.75375058e-02 9.99620766e-01 -1.03019034e-04 7.96485088e+00] [-7.07103210e-03 -9.17369192e-05 9.99974996e-01 -2.05274919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44439141799995 meters 0.06998703267201242 Centerline is valid? [True, True] Translation: X:358.82, Y:7.97, Z:-2.05 [[ 9.99628112e-01 2.62066232e-02 7.53992608e-03 3.58816475e+02] [-2.62065415e-02 9.99656544e-01 -1.09642461e-04 7.96760544e+00] [-7.54020980e-03 -8.79937002e-05 9.99971568e-01 -2.05213891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50439141799995 meters 0.06968739520174749 Centerline is valid? [True, True] Translation: X:358.88, Y:7.97, Z:-2.05 [[ 9.99670111e-01 2.42928432e-02 8.33829334e-03 3.58875216e+02] [-2.42926788e-02 9.99704882e-01 -1.21014165e-04 7.96734475e+00] [-8.33877233e-03 -8.15852385e-05 9.99965229e-01 -2.05254589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56439141799996 meters 0.06917908587452683 Centerline is valid? [True, True] Translation: X:358.93, Y:7.97, Z:-2.05 [[ 9.99674409e-01 2.40747817e-02 8.45463425e-03 3.58934496e+02] [-2.40746068e-02 9.99710157e-01 -1.22476370e-04 7.97394660e+00] [-8.45513233e-03 -8.11055030e-05 9.99964251e-01 -2.05206128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62439141799996 meters 0.07001503640628805 Centerline is valid? [True, True] Translation: X:358.99, Y:7.97, Z:-2.05 [[ 9.99686615e-01 2.34274730e-02 8.82191147e-03 3.58993204e+02] [-2.34272594e-02 9.99725536e-01 -1.27556140e-04 7.97498337e+00] [-8.82247849e-03 -7.91570429e-05 9.99961078e-01 -2.05233996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68439141799996 meters 0.06863488819953581 Centerline is valid? [True, True] Translation: X:359.05, Y:7.98, Z:-2.05 [[ 9.99691992e-01 2.34369996e-02 8.16263645e-03 3.59051663e+02] [-2.34368190e-02 9.99725313e-01 -1.17790805e-04 7.97938316e+00] [-8.16315494e-03 -7.35517082e-05 9.99966678e-01 -2.05329446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74439141799996 meters 0.069345464861738 Centerline is valid? [True, True] Translation: X:359.11, Y:7.98, Z:-2.05 [[ 9.99715415e-01 2.26067122e-02 7.61747859e-03 3.59110941e+02] [-2.26065328e-02 9.99744434e-01 -1.09658248e-04 7.98260076e+00] [-7.61801083e-03 -6.25777393e-05 9.99970981e-01 -2.05391232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80439141799997 meters 0.06921497307578336 Centerline is valid? [True, True] Translation: X:359.17, Y:7.99, Z:-2.05 [[ 9.99763957e-01 2.00986498e-02 8.25070687e-03 3.59170114e+02] [-2.00983559e-02 9.99798001e-01 -1.18541966e-04 7.98923976e+00] [-8.25142277e-03 -4.73116577e-05 9.99965955e-01 -2.05348107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86439141799997 meters 0.06870456993205369 Centerline is valid? [True, True] Translation: X:359.23, Y:7.99, Z:-2.05 [[ 9.99801874e-01 1.73735770e-02 9.71446153e-03 3.59229178e+02] [-1.73730437e-02 9.99849068e-01 -1.39286587e-04 7.99118764e+00] [-9.71541521e-03 -2.95107741e-05 9.99952804e-01 -2.05350734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters 0.06833273401801222 Centerline is valid? [True, True] Translation: X:359.29, Y:8.00, Z:-2.05 [[ 9.99845254e-01 1.51033904e-02 9.01978666e-03 3.59288049e+02] [-1.51028403e-02 9.99885937e-01 -1.29098562e-04 7.99590476e+00] [-9.02070767e-03 -7.14581368e-06 9.99959313e-01 -2.05414367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters 0.0682247521963532 Centerline is valid? [True, True] Translation: X:359.35, Y:8.00, Z:-2.06 [[ 9.99857010e-01 1.49836419e-02 7.83903648e-03 3.59346492e+02] [-1.49832242e-02 9.99887739e-01 -1.12011753e-04 8.00128651e+00] [-7.83983480e-03 -5.45830453e-06 9.99969268e-01 -2.05730675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters 0.06835353142617241 Centerline is valid? [True, True] Translation: X:359.40, Y:8.01, Z:-2.06 [[ 9.99842074e-01 1.61419969e-02 7.43397281e-03 3.59404658e+02] [-1.61416555e-02 9.99869709e-01 -1.05921987e-04 8.00664591e+00] [-7.43471402e-03 -1.40913689e-05 9.99972362e-01 -2.05711534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters 0.06808717560667035 Centerline is valid? [True, True] Translation: X:359.46, Y:8.02, Z:-2.06 [[ 9.99771727e-01 1.99819340e-02 7.56419252e-03 3.59463778e+02] [-1.99816965e-02 9.99800340e-01 -1.06983756e-04 8.01756242e+00] [-7.56482000e-03 -4.41860644e-05 9.99971385e-01 -2.05737100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters 0.06938202155630462 Centerline is valid? [True, True] Translation: X:359.52, Y:8.03, Z:-2.06 [[ 9.99678932e-01 2.41922360e-02 7.53452697e-03 3.59523629e+02] [-2.41921242e-02 9.99707322e-01 -1.05987487e-04 8.02722527e+00] [-7.53488585e-03 -7.63227541e-05 9.99971609e-01 -2.05809134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters 0.06892580031921512 Centerline is valid? [True, True] Translation: X:359.58, Y:8.03, Z:-2.06 [[ 9.99601258e-01 2.72526925e-02 7.39021594e-03 3.59583557e+02] [-2.72526693e-02 9.99628572e-01 -1.03860978e-04 8.03466287e+00] [-7.39030150e-03 -9.75835465e-05 9.99972687e-01 -2.05831482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters 0.0689751631038651 Centerline is valid? [True, True] Translation: X:359.64, Y:8.05, Z:-2.06 [[ 9.99475256e-01 3.15657698e-02 7.26736984e-03 3.59644275e+02] [-3.15658619e-02 9.99501669e-01 -1.02056028e-04 8.04805080e+00] [-7.26696976e-03 -1.27398318e-04 9.99973587e-01 -2.05826853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34439141799993 meters 0.06866453421605825 Centerline is valid? [True, True] Translation: X:359.70, Y:8.05, Z:-2.06 [[ 9.99434455e-01 3.29164879e-02 6.87575519e-03 3.59703204e+02] [-3.29166028e-02 9.99458097e-01 -9.64766164e-05 8.05184175e+00] [-6.87520487e-03 -1.29904448e-04 9.99976357e-01 -2.05892795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40439141799993 meters 0.06946112501413752 Centerline is valid? [True, True] Translation: X:359.76, Y:8.06, Z:-2.06 [[ 9.99403964e-01 3.37526120e-02 7.24410828e-03 3.59762182e+02] [-3.37527666e-02 9.99430208e-01 -1.00941709e-04 8.05647568e+00] [-7.24338769e-03 -1.43627152e-04 9.99973756e-01 -2.06012057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46439141799993 meters 0.06905103409553896 Centerline is valid? [True, True] Translation: X:359.82, Y:8.06, Z:-2.06 [[ 9.99415914e-01 3.33277865e-02 7.55576910e-03 3.59821092e+02] [-3.33279481e-02 9.99444464e-01 -1.04557906e-04 8.06379445e+00] [-7.55505628e-03 -1.47321445e-04 9.99971449e-01 -2.06093187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52439141799994 meters 0.06833685222092127 Centerline is valid? [True, True] Translation: X:359.88, Y:8.06, Z:-2.06 [[ 9.99614757e-01 2.60848861e-02 9.48237350e-03 3.59881872e+02] [-2.60848215e-02 9.99659725e-01 -1.30512744e-04 8.06497476e+00] [-9.48255129e-03 -1.16883556e-04 9.99955033e-01 -2.06046451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58439141799994 meters 0.06801842133018528 Centerline is valid? [True, True] Translation: X:359.94, Y:8.06, Z:-2.06 [[ 9.99790186e-01 1.76250242e-02 1.04375443e-02 3.59941648e+02] [-1.76244853e-02 9.99844666e-01 -1.43623009e-04 8.05925387e+00] [-1.04384543e-02 -4.03634704e-05 9.99945517e-01 -2.06182615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64439141799994 meters 0.06731648497600969 Centerline is valid? [True, True] Translation: X:360.00, Y:8.05, Z:-2.06 [[ 9.99938586e-01 6.84064809e-03 8.71945260e-03 3.60000193e+02] [-6.83986283e-03 9.99976601e-01 -1.19876527e-04 8.05476614e+00] [-8.72006861e-03 6.02293053e-05 9.99961978e-01 -2.06388877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70439141799994 meters 0.06706373013125605 Centerline is valid? [True, True] Translation: X:360.06, Y:8.05, Z:-2.07 [[ 9.99960079e-01 5.19451734e-03 7.27031037e-03 3.60060114e+02] [-5.19392883e-03 9.99986507e-01 -9.98264065e-05 8.05004399e+00] [-7.27073082e-03 6.20609467e-05 9.99973566e-01 -2.06631525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76439141799995 meters 0.06686602669354418 Centerline is valid? [True, True] Translation: X:360.12, Y:8.05, Z:-2.07 [[ 9.99930205e-01 7.83517199e-03 8.84283132e-03 3.60120309e+02] [-7.83440428e-03 9.99969303e-01 -1.21453945e-04 8.05262224e+00] [-8.84351148e-03 5.21671522e-05 9.99960894e-01 -2.06675754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82439141799995 meters 0.06746013539080002 Centerline is valid? [True, True] Translation: X:360.18, Y:8.05, Z:-2.07 [[ 9.99859761e-01 1.24362074e-02 1.12160375e-02 3.60179638e+02] [-1.24352626e-02 9.99922667e-01 -1.53980260e-04 8.05319180e+00] [-1.12170850e-02 1.44842950e-05 9.99937086e-01 -2.06678730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88439141799995 meters 0.06703132133005095 Centerline is valid? [True, True] Translation: X:360.24, Y:8.05, Z:-2.07 [[ 9.99823859e-01 1.36324812e-02 1.28998562e-02 3.60238780e+02] [-1.36313403e-02 9.99907073e-01 -1.76364799e-04 8.05175009e+00] [-1.29010618e-02 4.91403366e-07 9.99916778e-01 -2.06798528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94439141799995 meters 0.06817699136870507 Centerline is valid? [True, True] Translation: X:360.30, Y:8.05, Z:-2.07 [[ 9.99832977e-01 1.24278430e-02 1.34002771e-02 3.60297859e+02] [-1.24265141e-02 9.99922771e-01 -1.82429420e-04 8.04939236e+00] [-1.34015094e-02 1.58802177e-05 9.99910196e-01 -2.06891854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00439141799995 meters 0.06826167269887949 Centerline is valid? [True, True] Translation: X:360.36, Y:8.05, Z:-2.07 [[ 9.99840956e-01 1.15688812e-02 1.35728986e-02 3.60357010e+02] [-1.15674423e-02 9.99933078e-01 -1.84517356e-04 8.04674726e+00] [-1.35741249e-02 2.74842879e-05 9.99907867e-01 -2.07020514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06439141799996 meters 0.06746093305534137 Centerline is valid? [True, True] Translation: X:360.42, Y:8.04, Z:-2.07 [[ 9.99848608e-01 9.75387525e-03 1.44091180e-02 3.60416637e+02] [-9.75206791e-03 9.99952428e-01 -1.95689154e-04 8.04439246e+00] [-1.44103413e-02 5.51408304e-05 9.99896164e-01 -2.07195398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12439141799996 meters 0.06705635133869355 Centerline is valid? [True, True] Translation: X:360.48, Y:8.04, Z:-2.07 [[ 9.99870021e-01 8.21969772e-03 1.38700409e-02 3.60477196e+02] [-8.21787657e-03 9.99966215e-01 -1.88291110e-04 8.04205874e+00] [-1.38711200e-02 7.42843515e-05 9.99903789e-01 -2.07307845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18439141799996 meters 0.06723926826460734 Centerline is valid? [True, True] Translation: X:360.54, Y:8.04, Z:-2.07 [[ 9.99875008e-01 7.16907645e-03 1.40915944e-02 3.60538400e+02] [-7.16709080e-03 9.99974298e-01 -1.91405972e-04 8.04066124e+00] [-1.40926044e-02 9.03863113e-05 9.99900690e-01 -2.07489423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24439141799996 meters 0.06763184421295 Centerline is valid? [True, True] Translation: X:360.60, Y:8.04, Z:-2.07 [[ 9.99886017e-01 5.77327293e-03 1.39507076e-02 3.60600947e+02] [-5.77117955e-03 9.99983329e-01 -1.90308699e-04 8.03772377e+00] [-1.39515737e-02 1.09774968e-04 9.99902666e-01 -2.07454739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30439141799997 meters 0.0672119382427285 Centerline is valid? [True, True] Translation: X:360.66, Y:8.04, Z:-2.08 [[ 9.99890144e-01 5.90849249e-03 1.35937736e-02 3.60663238e+02] [-5.90650723e-03 9.99982539e-01 -1.86185712e-04 8.03723721e+00] [-1.35946363e-02 1.05873537e-04 9.99907583e-01 -2.07616943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36439141799997 meters 0.0663877149522026 Centerline is valid? [True, True] Translation: X:360.73, Y:8.04, Z:-2.08 [[ 9.99881975e-01 6.03246015e-03 1.41295708e-02 3.60725793e+02] [-6.03032227e-03 9.99981799e-01 -1.93906084e-04 8.03689091e+00] [-1.41304833e-02 1.08677332e-04 9.99900154e-01 -2.07886689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters 0.06753830573680242 Centerline is valid? [True, True] Translation: X:360.79, Y:8.04, Z:-2.08 [[ 9.99902962e-01 7.45894952e-03 1.17656552e-02 3.60787355e+02] [-7.45756346e-03 9.99972179e-01 -1.61674540e-04 8.03595661e+00] [-1.17665337e-02 7.39157310e-05 9.99930769e-01 -2.07950532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters 0.06807478444709429 Centerline is valid? [True, True] Translation: X:360.85, Y:8.04, Z:-2.08 [[ 9.99875152e-01 1.16668511e-02 1.06566883e-02 3.60848191e+02] [-1.16659523e-02 9.99931940e-01 -1.46508305e-04 8.03657628e+00] [-1.06576723e-02 2.21695963e-05 9.99943205e-01 -2.07872038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters 0.06729587387983711 Centerline is valid? [True, True] Translation: X:360.91, Y:8.04, Z:-2.08 [[ 9.99815726e-01 1.60218215e-02 1.05742379e-02 3.60906525e+02] [-1.60211845e-02 9.99871642e-01 -1.44950994e-04 8.03788838e+00] [-1.05752029e-02 -2.44875322e-05 9.99944081e-01 -2.07815471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters 0.06881125924475447 Centerline is valid? [True, True] Translation: X:360.97, Y:8.04, Z:-2.08 [[ 9.99740451e-01 2.06834012e-02 9.55135180e-03 3.60965444e+02] [-2.06831021e-02 9.99786073e-01 -1.30095469e-04 8.03742048e+00] [-9.55199932e-03 -6.74898824e-05 9.99954376e-01 -2.07995676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters 0.0685091416802356 Centerline is valid? [True, True] Translation: X:361.02, Y:8.04, Z:-2.08 [[ 9.99697079e-01 2.31000892e-02 8.49325140e-03 3.61024547e+02] [-2.30999461e-02 9.99733154e-01 -1.14968184e-04 8.03948409e+00] [-8.49364078e-03 -8.12602912e-05 9.99963925e-01 -2.07891642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters 0.06891703743847066 Centerline is valid? [True, True] Translation: X:361.08, Y:8.04, Z:-2.08 [[ 9.99625814e-01 2.63691663e-02 7.27322800e-03 3.61083607e+02] [-2.63691513e-02 9.99652269e-01 -9.79745657e-05 8.04022513e+00] [-7.27328237e-03 -9.38509443e-05 9.99973545e-01 -2.07957297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters 0.06894516536471187 Centerline is valid? [True, True] Translation: X:361.14, Y:8.04, Z:-2.08 [[ 9.99547767e-01 2.92826104e-02 6.84038716e-03 3.61143236e+02] [-2.92826662e-02 9.99571167e-01 -9.20171428e-05 8.03795170e+00] [-6.84014828e-03 -1.08329244e-04 9.99976600e-01 -2.08105429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84439141799993 meters 0.07073167787893922 Centerline is valid? [True, True] Translation: X:361.20, Y:8.04, Z:-2.08 [[ 9.99378984e-01 3.44422214e-02 7.44175768e-03 3.61204091e+02] [-3.44424310e-02 9.99406678e-01 -1.00023546e-04 8.03708900e+00] [-7.44078736e-03 -1.56350796e-04 9.99972305e-01 -2.08052836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90439141799993 meters 0.0700092465639744 Centerline is valid? [True, True] Translation: X:361.26, Y:8.04, Z:-2.08 [[ 9.99222292e-01 3.86591213e-02 7.76425209e-03 3.61264438e+02] [-3.86594765e-02 9.99252438e-01 -1.04381961e-04 8.03804415e+00] [-7.76248314e-03 -1.95861138e-04 9.99969852e-01 -2.08025362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96439141799993 meters 0.07012451490570851 Centerline is valid? [True, True] Translation: X:361.32, Y:8.04, Z:-2.08 [[ 9.99147277e-01 4.07740336e-02 6.49592168e-03 3.61324260e+02] [-4.07743270e-02 9.99168378e-01 -8.73184961e-05 8.03564929e+00] [-6.49407985e-03 -1.77622797e-04 9.99978897e-01 -2.08047180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02439141799994 meters 0.07092002217175113 Centerline is valid? [True, True] Translation: X:361.38, Y:8.04, Z:-2.08 [[ 9.99162624e-01 4.04686355e-02 6.02838166e-03 3.61382885e+02] [-4.04688828e-02 9.99180796e-01 -8.09955406e-05 8.03596116e+00] [-6.02672097e-03 -1.63034154e-04 9.99981826e-01 -2.08126567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08439141799994 meters 0.06935082554482026 Centerline is valid? [True, True] Translation: X:361.44, Y:8.03, Z:-2.08 [[ 9.99228574e-01 3.87948084e-02 6.10087334e-03 3.61441791e+02] [-3.87950339e-02 9.99247186e-01 -8.14170563e-05 8.02812516e+00] [-6.09943907e-03 -1.55329339e-04 9.99981386e-01 -2.08168021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14439141799994 meters 0.07099924005902314 Centerline is valid? [True, True] Translation: X:361.50, Y:8.03, Z:-2.08 [[ 9.99388313e-01 3.44073190e-02 6.25582664e-03 3.61501911e+02] [-3.44074713e-02 9.99407884e-01 -8.33119106e-05 8.03079420e+00] [-6.25498901e-03 -1.31986226e-04 9.99980429e-01 -2.08269892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20439141799994 meters 0.07039690745394915 Centerline is valid? [True, True] Translation: X:361.56, Y:8.02, Z:-2.08 [[ 9.99231871e-01 3.87737202e-02 5.68032650e-03 3.61561949e+02] [-3.87739163e-02 9.99248006e-01 -7.56392756e-05 8.02407672e+00] [-5.67898774e-03 -1.44667329e-04 9.99983864e-01 -2.08275945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26439141799995 meters 0.07034756431879507 Centerline is valid? [True, True] Translation: X:361.62, Y:8.03, Z:-2.08 [[ 9.99184203e-01 4.00193198e-02 5.42062620e-03 3.61621321e+02] [-4.00195164e-02 9.99198896e-01 -7.22362065e-05 8.02636120e+00] [-5.41917455e-03 -1.44753563e-04 9.99985306e-01 -2.08298104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32439141799995 meters 0.07040059907663682 Centerline is valid? [True, True] Translation: X:361.68, Y:8.02, Z:-2.08 [[ 9.99057651e-01 4.31407174e-02 4.76331442e-03 3.61681549e+02] [-4.31409056e-02 9.99068996e-01 -6.32731077e-05 8.02024998e+00] [-4.76160941e-03 -1.42280216e-04 9.99988653e-01 -2.08263106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38439141799995 meters 0.07119350171057283 Centerline is valid? [True, True] Translation: X:361.74, Y:8.03, Z:-2.08 [[ 9.98961978e-01 4.52980620e-02 4.80129868e-03 3.61741204e+02] [-4.52982783e-02 9.98973504e-01 -6.37437307e-05 8.03301663e+00] [-4.79925763e-03 -1.53813001e-04 9.99988472e-01 -2.08462383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44439141799995 meters 0.0708358130681337 Centerline is valid? [True, True] Translation: X:361.80, Y:8.02, Z:-2.08 [[ 9.98811504e-01 4.85037647e-02 4.79212526e-03 3.61801950e+02] [-4.85040173e-02 9.98822985e-01 -6.35787226e-05 8.02156297e+00] [-4.78956867e-03 -1.68934167e-04 9.99988516e-01 -2.08399137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50439141799995 meters 0.07006110220737309 Centerline is valid? [True, True] Translation: X:361.86, Y:8.02, Z:-2.08 [[ 9.98877411e-01 4.70702091e-02 5.32109667e-03 3.61861658e+02] [-4.70705001e-02 9.98891567e-01 -7.05968080e-05 8.02124504e+00] [-5.31852160e-03 -1.79949125e-04 9.99985840e-01 -2.08405000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56439141799996 meters 0.07019511863266727 Centerline is valid? [True, True] Translation: X:361.92, Y:8.01, Z:-2.09 [[ 9.99029150e-01 4.36327576e-02 6.07788213e-03 3.61921940e+02] [-4.36330740e-02 9.99047621e-01 -8.05897006e-05 8.01147700e+00] [-6.07561003e-03 -1.84685221e-04 9.99981526e-01 -2.08529098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62439141799996 meters 0.06883233496589039 Centerline is valid? [True, True] Translation: X:361.98, Y:8.01, Z:-2.08 [[ 9.99150212e-01 4.09132285e-02 4.99623521e-03 3.61981411e+02] [-4.09134085e-02 9.99162694e-01 -6.62258672e-05 8.00715276e+00] [-4.99476134e-03 -1.38243423e-04 9.99987517e-01 -2.08440017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68439141799996 meters 0.06844353158685794 Centerline is valid? [True, True] Translation: X:362.04, Y:8.01, Z:-2.08 [[ 9.99225010e-01 3.90262305e-02 5.13151044e-03 3.62040709e+02] [-3.90263959e-02 9.99238178e-01 -6.79429505e-05 8.00520995e+00] [-5.13025270e-03 -1.32374063e-04 9.99986831e-01 -2.08455294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74439141799996 meters 0.06861749858255867 Centerline is valid? [True, True] Translation: X:362.10, Y:7.99, Z:-2.09 [[ 9.99196498e-01 3.96746725e-02 5.68151413e-03 3.62099648e+02] [-3.96748860e-02 9.99212639e-01 -7.51602383e-05 7.99297542e+00] [-5.68002269e-03 -1.50313579e-04 9.99983857e-01 -2.08570337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80439141799997 meters 0.06758868538463984 Centerline is valid? [True, True] Translation: X:362.16, Y:7.99, Z:-2.09 [[ 9.99203847e-01 3.95771927e-02 5.03165194e-03 3.62157048e+02] [-3.95773611e-02 9.99216507e-01 -6.61337421e-05 7.99446505e+00] [-5.03032706e-03 -1.33058416e-04 9.99987339e-01 -2.08572184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86439141799997 meters 0.06915522508326438 Centerline is valid? [True, True] Translation: X:362.22, Y:7.99, Z:-2.09 [[ 9.99216828e-01 3.91719182e-02 5.59396952e-03 3.62215954e+02] [-3.91721216e-02 9.99232475e-01 -7.32420540e-05 7.99407228e+00] [-5.59254504e-03 -1.45942962e-04 9.99984351e-01 -2.08630375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters 0.06859147195486266 Centerline is valid? [True, True] Translation: X:362.27, Y:7.98, Z:-2.09 [[ 9.99253412e-01 3.82999547e-02 5.07261561e-03 3.62274680e+02] [-3.83001129e-02 9.99266279e-01 -6.59856480e-05 7.98439071e+00] [-5.07142097e-03 -1.28345366e-04 9.99987132e-01 -2.08688873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters 0.06912101579082716 Centerline is valid? [True, True] Translation: X:362.33, Y:7.97, Z:-2.09 [[ 9.99225215e-01 3.88815689e-02 6.09856439e-03 3.62332932e+02] [-3.88818123e-02 9.99243813e-01 -7.86857832e-05 7.97271577e+00] [-6.09701216e-03 -1.58498417e-04 9.99981400e-01 -2.08656154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters 0.06950227437773941 Centerline is valid? [True, True] Translation: X:362.39, Y:7.97, Z:-2.09 [[ 9.99244459e-01 3.84285611e-02 5.81013187e-03 3.62390422e+02] [-3.84287774e-02 9.99261339e-01 -7.44482466e-05 7.97442473e+00] [-5.80870109e-03 -1.48884267e-04 9.99983118e-01 -2.08753432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters 0.06910308142128886 Centerline is valid? [True, True] Translation: X:362.45, Y:7.97, Z:-2.09 [[ 9.98965113e-01 4.50476666e-02 6.27773271e-03 3.62450967e+02] [-4.50480511e-02 9.98984818e-01 -8.02137803e-05 7.96685642e+00] [-6.27497311e-03 -2.02668856e-04 9.99980292e-01 -2.08808445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters 0.06983827715739804 Centerline is valid? [True, True] Translation: X:362.51, Y:7.98, Z:-2.09 [[ 9.98824582e-01 4.81178318e-02 5.84198585e-03 3.62510982e+02] [-4.81182169e-02 9.98841645e-01 -7.46914344e-05 7.97797613e+00] [-5.83881275e-03 -2.06502302e-04 9.99982933e-01 -2.08704317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters 0.06922192897806921 Centerline is valid? [True, True] Translation: X:362.57, Y:7.97, Z:-2.09 [[ 9.98890796e-01 4.67393768e-02 5.71042398e-03 3.62570971e+02] [-4.67397224e-02 9.98907099e-01 -7.29982103e-05 7.97406435e+00] [-5.70759494e-03 -1.93986391e-04 9.99983693e-01 -2.08721407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters 0.06740503490098802 Centerline is valid? [True, True] Translation: X:362.63, Y:7.97, Z:-2.09 [[ 9.99297927e-01 3.72234656e-02 4.25042125e-03 3.62631871e+02] [-3.72235718e-02 9.99306961e-01 -5.41567316e-05 7.96945778e+00] [-4.24949144e-03 -1.04097151e-04 9.99990965e-01 -2.08908295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34439141799993 meters 0.06735364898593398 Centerline is valid? [True, True] Translation: X:362.69, Y:7.96, Z:-2.09 [[ 9.99733653e-01 2.26629903e-02 4.36028331e-03 3.62691327e+02] [-2.26629631e-02 9.99743161e-01 -5.56542100e-05 7.95588533e+00] [-4.36042471e-03 -4.31775530e-05 9.99990492e-01 -2.08996125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40439141799993 meters 0.06664414496984716 Centerline is valid? [True, True] Translation: X:362.75, Y:7.95, Z:-2.09 [[ 9.99919185e-01 1.16821276e-02 5.01507905e-03 3.62749885e+02] [-1.16819535e-02 9.99931762e-01 -6.40129973e-05 7.94561030e+00] [-5.01548464e-03 5.42190388e-06 9.99987422e-01 -2.08969932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46439141799993 meters 0.06661615314915893 Centerline is valid? [True, True] Translation: X:362.81, Y:7.93, Z:-2.09 [[ 9.99977377e-01 -2.56442046e-03 6.21842352e-03 3.62808938e+02] [ 2.56496200e-03 9.99996707e-01 -7.91124722e-05 7.93449704e+00] [-6.21820017e-03 9.50607024e-05 9.99980662e-01 -2.08975379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52439141799994 meters 0.06631282348356031 Centerline is valid? [True, True] Translation: X:362.87, Y:7.92, Z:-2.09 [[ 9.99916861e-01 -1.15669877e-02 5.69868026e-03 3.62869105e+02] [ 1.15675881e-02 9.99933091e-01 -7.24110563e-05 7.92298819e+00] [-5.69746139e-03 1.38325022e-04 9.99983760e-01 -2.08947860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58439141799994 meters 0.06621412914234466 Centerline is valid? [True, True] Translation: X:362.93, Y:7.92, Z:-2.09 [[ 9.99901552e-01 -1.27499720e-02 5.85869667e-03 3.62931398e+02] [ 1.27506275e-02 9.99918705e-01 -7.45375284e-05 7.92283988e+00] [-5.85727003e-03 1.49232249e-04 9.99982835e-01 -2.09063341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64439141799994 meters 0.06576156700028177 Centerline is valid? [True, True] Translation: X:362.99, Y:7.92, Z:-2.09 [[ 9.99916967e-01 -1.16429832e-02 5.52270300e-03 3.62992306e+02] [ 1.16435523e-02 9.99932209e-01 -7.09180470e-05 7.91577926e+00] [-5.52150292e-03 1.35216040e-04 9.99984747e-01 -2.09067531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70439141799994 meters 0.06668215609224151 Centerline is valid? [True, True] Translation: X:363.05, Y:7.92, Z:-2.09 [[ 9.99946590e-01 -8.68327541e-03 5.60514633e-03 3.63053774e+02] [ 8.68381603e-03 9.99962292e-01 -7.21201797e-05 7.91612847e+00] [-5.60430873e-03 1.20790387e-04 9.99984288e-01 -2.09023617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76439141799995 meters 0.06707552300742838 Centerline is valid? [True, True] Translation: X:363.11, Y:7.91, Z:-2.09 [[ 9.99970706e-01 -3.50973219e-03 6.80209697e-03 3.63113533e+02] [ 3.51040996e-03 9.99993835e-01 -8.77047032e-05 7.90881467e+00] [-6.80174721e-03 1.11580283e-04 9.99976862e-01 -2.08966511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82439141799995 meters 0.06687173865794244 Centerline is valid? [True, True] Translation: X:363.17, Y:7.91, Z:-2.09 [[ 9.99965935e-01 4.05117180e-03 7.19145892e-03 3.63174787e+02] [-4.05060956e-03 9.99991792e-01 -9.27448350e-05 7.90888220e+00] [-7.19177562e-03 6.36118834e-05 9.99974137e-01 -2.08947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88439141799995 meters 0.06738221378070004 Centerline is valid? [True, True] Translation: X:363.24, Y:7.91, Z:-2.09 [[ 9.99935157e-01 9.35829851e-03 6.48870653e-03 3.63236436e+02] [-9.35795187e-03 9.99956210e-01 -8.37811400e-05 7.90608332e+00] [-6.48920644e-03 2.30547041e-05 9.99978945e-01 -2.08967617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94439141799995 meters 0.06690231269000253 Centerline is valid? [True, True] Translation: X:363.30, Y:7.90, Z:-2.09 [[ 9.99894825e-01 1.25059297e-02 7.34441609e-03 3.63295089e+02] [-1.25055703e-02 9.99921798e-01 -9.48544938e-05 7.90278366e+00] [-7.34502799e-03 2.99840578e-06 9.99973025e-01 -2.09056785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00439141799995 meters 0.0672947073146068 Centerline is valid? [True, True] Translation: X:363.35, Y:7.90, Z:-2.09 [[ 9.99823452e-01 1.74466569e-02 6.97702988e-03 3.63353033e+02] [-1.74464560e-02 9.99847795e-01 -8.96542970e-05 7.90043331e+00] [-6.97753211e-03 -3.20859762e-05 9.99975656e-01 -2.09102855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06439141799996 meters 0.06779686933425007 Centerline is valid? [True, True] Translation: X:363.41, Y:7.90, Z:-2.09 [[ 9.99740160e-01 2.18856393e-02 6.37433655e-03 3.63410978e+02] [-2.18855643e-02 9.99760479e-01 -8.15238683e-05 7.89554547e+00] [-6.37459397e-03 -5.80032673e-05 9.99979680e-01 -2.09175087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12439141799996 meters 0.0677605418175733 Centerline is valid? [True, True] Translation: X:363.47, Y:7.90, Z:-2.09 [[ 9.99679008e-01 2.44519428e-02 6.63200229e-03 3.63469349e+02] [-2.44519203e-02 9.99701004e-01 -8.44864357e-05 7.89702656e+00] [-6.63208520e-03 -7.77058751e-05 9.99978004e-01 -2.09257874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18439141799996 meters 0.06872588183259264 Centerline is valid? [True, True] Translation: X:363.53, Y:7.89, Z:-2.09 [[ 9.99607860e-01 2.71756972e-02 6.75337108e-03 3.63527594e+02] [-2.71757411e-02 9.99630668e-01 -8.52830318e-05 7.88953843e+00] [-6.75319447e-03 -9.82782749e-05 9.99977192e-01 -2.09306994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24439141799996 meters 0.06837999987776601 Centerline is valid? [True, True] Translation: X:363.59, Y:7.89, Z:-2.09 [[ 9.99509157e-01 3.05205558e-02 7.06694925e-03 3.63587230e+02] [-3.05206894e-02 9.99534131e-01 -8.89685415e-05 7.89425580e+00] [-7.06637235e-03 -1.26763291e-04 9.99975025e-01 -2.09205708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30439141799997 meters 0.06838034324222274 Centerline is valid? [True, True] Translation: X:363.65, Y:7.89, Z:-2.09 [[ 9.99417006e-01 3.34050092e-02 7.05365768e-03 3.63645737e+02] [-3.34052147e-02 9.99441886e-01 -8.87213337e-05 7.88861065e+00] [-7.05268467e-03 -1.46959339e-04 9.99975119e-01 -2.09269390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36439141799997 meters 0.06894918853565389 Centerline is valid? [True, True] Translation: X:363.70, Y:7.89, Z:-2.09 [[ 9.99421384e-01 3.33940070e-02 6.46042226e-03 3.63703879e+02] [-3.33941803e-02 9.99442256e-01 -8.10797611e-05 7.89064707e+00] [-6.45952657e-03 -1.34707658e-04 9.99979128e-01 -2.09388654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters 0.06898987486858799 Centerline is valid? [True, True] Translation: X:363.76, Y:7.89, Z:-2.09 [[ 9.99514296e-01 3.06170940e-02 5.81090982e-03 3.63762758e+02] [-3.06171897e-02 9.99531181e-01 -7.25076665e-05 7.88685039e+00] [-5.81040554e-03 -1.05441279e-04 9.99983114e-01 -2.09415981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters 0.06878480692842587 Centerline is valid? [True, True] Translation: X:363.82, Y:7.88, Z:-2.09 [[ 9.99666637e-01 2.51734214e-02 5.73709984e-03 3.63822043e+02] [-2.51734259e-02 9.99683097e-01 -7.14398418e-05 7.88102965e+00] [-5.73708012e-03 -7.30064315e-05 9.99983540e-01 -2.09484236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters 0.06875004920614548 Centerline is valid? [True, True] Translation: X:363.88, Y:7.87, Z:-2.10 [[ 9.99796166e-01 1.92526972e-02 6.07952988e-03 3.63880834e+02] [-1.92525935e-02 9.99814649e-01 -7.55927648e-05 7.87265153e+00] [-6.07985840e-03 -4.14693609e-05 9.99981517e-01 -2.09512105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters 0.06861061810007786 Centerline is valid? [True, True] Translation: X:363.94, Y:7.87, Z:-2.09 [[ 9.99861053e-01 1.54588867e-02 6.23684873e-03 3.63938381e+02] [-1.54587051e-02 9.99880504e-01 -7.73253293e-05 7.86945002e+00] [-6.23729882e-03 -1.90990203e-05 9.99980548e-01 -2.09474824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters 0.06850624833067567 Centerline is valid? [True, True] Translation: X:364.00, Y:7.87, Z:-2.10 [[ 9.99884390e-01 1.33970773e-02 7.19202841e-03 3.63996761e+02] [-1.33967847e-02 9.99910255e-01 -8.88486410e-05 7.86509663e+00] [-7.19257328e-03 -7.51168722e-06 9.99974133e-01 -2.09589136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters 0.06768590022237055 Centerline is valid? [True, True] Translation: X:364.06, Y:7.86, Z:-2.10 [[ 9.99883059e-01 1.33380664e-02 7.48092263e-03 3.64055319e+02] [-1.33377496e-02 9.99911044e-01 -9.22426260e-05 7.86308036e+00] [-7.48148749e-03 -7.54683339e-06 9.99972013e-01 -2.09589752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters 0.06712161985683639 Centerline is valid? [True, True] Translation: X:364.11, Y:7.86, Z:-2.10 [[ 9.99852067e-01 1.48770650e-02 8.63232256e-03 3.64114386e+02] [-1.48767045e-02 9.99889330e-01 -1.05979127e-04 7.86162883e+00] [-8.63294388e-03 -2.24570627e-05 9.99962735e-01 -2.09599776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84439141799993 meters 0.06771645020221236 Centerline is valid? [True, True] Translation: X:364.17, Y:7.86, Z:-2.09 [[ 9.99793893e-01 1.83672305e-02 8.64959616e-03 3.64172704e+02] [-1.83670069e-02 9.99831307e-01 -1.05284186e-04 7.86328492e+00] [-8.65007081e-03 -5.36047065e-05 9.99962586e-01 -2.09475800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90439141799993 meters 0.06859069185721246 Centerline is valid? [True, True] Translation: X:364.23, Y:7.86, Z:-2.10 [[ 9.99701056e-01 2.31791222e-02 7.77988659e-03 3.64231518e+02] [-2.31790935e-02 9.99731324e-01 -9.38720481e-05 7.85632622e+00] [-7.77997220e-03 -8.64867331e-05 9.99969732e-01 -2.09708751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96439141799993 meters 0.06861503552503767 Centerline is valid? [True, True] Translation: X:364.29, Y:7.85, Z:-2.10 [[ 9.99679075e-01 2.38841736e-02 8.44348295e-03 3.64290223e+02] [-2.38841733e-02 9.99714727e-01 -1.00882312e-04 7.85298149e+00] [-8.44348374e-03 -1.00815674e-04 9.99964348e-01 -2.09700717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02439141799994 meters 0.0681666463132415 Centerline is valid? [True, True] Translation: X:364.35, Y:7.85, Z:-2.10 [[ 9.99667826e-01 2.40237143e-02 9.33269314e-03 3.64348508e+02] [-2.40237271e-02 9.99711383e-01 -1.10756953e-04 7.85024514e+00] [-9.33266036e-03 -1.13485911e-04 9.99956443e-01 -2.09729545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08439141799994 meters 0.06873737563381359 Centerline is valid? [True, True] Translation: X:364.41, Y:7.85, Z:-2.10 [[ 9.99654831e-01 2.42848853e-02 1.00231160e-02 3.64407781e+02] [-2.42849162e-02 9.99705071e-01 -1.18647624e-04 7.85047028e+00] [-1.00230412e-02 -1.24803860e-04 9.99949760e-01 -2.09585371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14439141799994 meters 0.06994289913262293 Centerline is valid? [True, True] Translation: X:364.47, Y:7.85, Z:-2.10 [[ 9.99499030e-01 3.00111710e-02 1.00508453e-02 3.64466618e+02] [-3.00114937e-02 9.99549547e-01 -1.18750885e-04 7.84735577e+00] [-1.00498818e-02 -1.82949487e-04 9.99949482e-01 -2.09667453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20439141799994 meters 0.06982728084054139 Centerline is valid? [True, True] Translation: X:364.53, Y:7.84, Z:-2.10 [[ 9.99344638e-01 3.45124290e-02 1.09172700e-02 3.64526910e+02] [-3.45130794e-02 9.99404238e-01 -1.28875303e-04 7.84223124e+00] [-1.09152137e-02 -2.47997765e-04 9.99940397e-01 -2.09750321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26439141799995 meters 0.06875398390878751 Centerline is valid? [True, True] Translation: X:364.59, Y:7.84, Z:-2.10 [[ 9.99144874e-01 3.99249735e-02 1.07479229e-02 3.64587608e+02] [-3.99259167e-02 9.99202635e-01 -1.26875119e-04 7.83765090e+00] [-1.07444184e-02 -3.02354051e-04 9.99942231e-01 -2.09844443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32439141799995 meters 0.06950665280131203 Centerline is valid? [True, True] Translation: X:364.65, Y:7.84, Z:-2.10 [[ 9.99047837e-01 4.24323018e-02 1.01449336e-02 3.64646335e+02] [-4.24332720e-02 9.99099296e-01 -1.19690841e-04 7.83661654e+00] [-1.01408748e-02 -3.10905854e-04 9.99948532e-01 -2.09970817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38439141799995 meters 0.0696539367759082 Centerline is valid? [True, True] Translation: X:364.70, Y:7.83, Z:-2.10 [[ 9.99023529e-01 4.27769426e-02 1.10508993e-02 3.64704581e+02] [-4.27781183e-02 9.99084589e-01 -1.30068246e-04 7.82628369e+00] [-1.10463471e-02 -3.42795438e-04 9.99938928e-01 -2.10175237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44439141799995 meters 0.07045285762684952 Centerline is valid? [True, True] Translation: X:364.76, Y:7.82, Z:-2.10 [[ 9.99035645e-01 4.23313187e-02 1.16549950e-02 3.64763299e+02] [-4.23326014e-02 9.99103564e-01 -1.36734194e-04 7.82410924e+00] [-1.16503352e-02 -3.56783925e-04 9.99932069e-01 -2.10186097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50439141799995 meters 0.06993176537147329 Centerline is valid? [True, True] Translation: X:364.82, Y:7.82, Z:-2.10 [[ 9.99089428e-01 4.11041056e-02 1.14353897e-02 3.64821485e+02] [-4.11052642e-02 9.99154813e-01 -1.33793530e-04 7.82040509e+00] [-1.14312241e-02 -3.36383015e-04 9.99934605e-01 -2.10264214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56439141799996 meters 0.0703057786933031 Centerline is valid? [True, True] Translation: X:364.88, Y:7.83, Z:-2.10 [[ 9.99135573e-01 3.98674761e-02 1.17767392e-02 3.64880105e+02] [-3.98686230e-02 9.99204921e-01 -1.37460109e-04 7.82567542e+00] [-1.17728559e-02 -3.32181091e-04 9.99930642e-01 -2.10201612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62439141799996 meters 0.0696093860680558 Centerline is valid? [True, True] Translation: X:364.94, Y:7.81, Z:-2.10 [[ 9.99289637e-01 3.60548438e-02 1.09667772e-02 3.64940557e+02] [-3.60556104e-02 9.99349777e-01 -1.27870519e-04 7.81491345e+00] [-1.09642567e-02 -2.67634160e-04 9.99939855e-01 -2.10423977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68439141799996 meters 0.06926788832406801 Centerline is valid? [True, True] Translation: X:365.00, Y:7.82, Z:-2.10 [[ 9.99460678e-01 3.03479481e-02 1.25440938e-02 3.65000525e+02] [-3.03485021e-02 9.99539367e-01 -1.46233665e-04 7.81640086e+00] [-1.25427535e-02 -2.34539660e-04 9.99921309e-01 -2.10387173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74439141799996 meters 0.06855135520787892 Centerline is valid? [True, True] Translation: X:365.06, Y:7.81, Z:-2.10 [[ 9.99655079e-01 2.20185724e-02 1.43145547e-02 3.65059846e+02] [-2.20184415e-02 9.99757551e-01 -1.66762116e-04 7.81178693e+00] [-1.43147560e-02 -1.48479589e-04 9.99897528e-01 -2.10447980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80439141799997 meters 0.06845563816679377 Centerline is valid? [True, True] Translation: X:365.12, Y:7.81, Z:-2.10 [[ 9.99797429e-01 1.50688918e-02 1.33427660e-02 3.65119560e+02] [-1.50681618e-02 9.99886457e-01 -1.55245089e-04 7.81144512e+00] [-1.33435904e-02 -4.58373166e-05 9.99910969e-01 -2.10345324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86439141799997 meters 0.06854929379283213 Centerline is valid? [True, True] Translation: X:365.18, Y:7.81, Z:-2.11 [[ 9.99900977e-01 3.34820073e-03 1.36684495e-02 3.65180137e+02] [-3.34634187e-03 9.99994388e-01 -1.58864879e-04 7.80636465e+00] [-1.36689047e-02 1.13109843e-04 9.99906570e-01 -2.10782367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters 0.06819565441859513 Centerline is valid? [True, True] Translation: X:365.24, Y:7.80, Z:-2.11 [[ 9.99907515e-01 -4.15655726e-03 1.29493300e-02 3.65239939e+02] [ 4.15885781e-03 9.99991341e-01 -1.50734075e-04 7.80004080e+00] [-1.29485913e-02 2.04574556e-04 9.99916143e-01 -2.10629453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters 0.06742284365569713 Centerline is valid? [True, True] Translation: X:365.30, Y:7.80, Z:-2.11 [[ 9.99785027e-01 -1.52900860e-02 1.40040387e-02 3.65300500e+02] [ 1.52938720e-02 9.99883029e-01 -1.63294752e-04 7.80242104e+00] [-1.39999039e-02 3.77435624e-04 9.99901925e-01 -2.10855288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters 0.06913006853069806 Centerline is valid? [True, True] Translation: X:365.36, Y:7.79, Z:-2.11 [[ 9.99743264e-01 -1.89235788e-02 1.24620982e-02 3.65360417e+02] [ 1.89268620e-02 9.99820860e-01 -1.45562224e-04 7.78837102e+00] [-1.24571112e-02 3.81393265e-04 9.99922334e-01 -2.10734214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters 0.06702353879664562 Centerline is valid? [True, True] Translation: X:365.42, Y:7.80, Z:-2.11 [[ 9.99663746e-01 -2.21294671e-02 1.35159996e-02 3.65421038e+02] [ 2.21336259e-02 9.99755009e-01 -1.58167944e-04 7.80052255e+00] [-1.35091881e-02 4.57272838e-04 9.99908642e-01 -2.11028888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters 0.06843757570122759 Centerline is valid? [True, True] Translation: X:365.48, Y:7.79, Z:-2.11 [[ 9.99610254e-01 -2.41773734e-02 1.39569040e-02 3.65480841e+02] [ 2.41820126e-02 9.99707559e-01 -1.63707238e-04 7.79365599e+00] [-1.39488644e-02 5.01149461e-04 9.99902584e-01 -2.10668520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters 0.068297270499907 Centerline is valid? [True, True] Translation: X:365.54, Y:7.80, Z:-2.11 [[ 9.99625337e-01 -2.34623519e-02 1.40962452e-02 3.65543498e+02] [ 2.34670224e-02 9.99724598e-01 -1.65994104e-04 7.79865052e+00] [-1.40884684e-02 4.96728814e-04 9.99900629e-01 -2.11013893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2843914179999 meters 0.06731700741067494 Centerline is valid? [True, True] Translation: X:365.61, Y:7.80, Z:-2.11 [[ 9.99639083e-01 -2.33840915e-02 1.32244879e-02 3.65605695e+02] [ 2.33882031e-02 9.99726446e-01 -1.56319486e-04 7.80260182e+00] [-1.32172149e-02 4.65560076e-04 9.99912540e-01 -2.11183494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34439141799993 meters 0.06595156564108871 Centerline is valid? [True, True] Translation: X:365.67, Y:7.81, Z:-2.11 [[ 9.99598297e-01 -2.40603791e-02 1.49781094e-02 3.65667661e+02] [ 2.40657387e-02 9.99710362e-01 -1.77664201e-04 7.81280737e+00] [-1.49694965e-02 5.38052100e-04 9.99887806e-01 -2.11436811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40439141799993 meters 0.06665686347628695 Centerline is valid? [True, True] Translation: X:365.73, Y:7.81, Z:-2.12 [[ 9.99511887e-01 -2.69054591e-02 1.58771349e-02 3.65728515e+02] [ 2.69118463e-02 9.99637793e-01 -1.88732733e-04 7.81398548e+00] [-1.58663061e-02 6.15923624e-04 9.99873933e-01 -2.11516355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46439141799993 meters 0.06682729484172548 Centerline is valid? [True, True] Translation: X:365.79, Y:7.81, Z:-2.11 [[ 9.99435603e-01 -3.00001599e-02 1.51151211e-02 3.65788166e+02] [ 3.00063028e-02 9.99549693e-01 -1.79733046e-04 7.80575170e+00] [-1.51029227e-02 6.33180506e-04 9.99885744e-01 -2.11443422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52439141799994 meters 0.06666293184631815 Centerline is valid? [True, True] Translation: X:365.85, Y:7.80, Z:-2.11 [[ 9.99223393e-01 -3.62416966e-02 1.54644607e-02 3.65848329e+02] [ 3.62488727e-02 9.99342777e-01 -1.83892051e-04 7.80322543e+00] [-1.54476325e-02 7.44318504e-04 9.99880401e-01 -2.11483180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58439141799994 meters 0.06562036034246654 Centerline is valid? [True, True] Translation: X:365.91, Y:7.81, Z:-2.12 [[ 9.98960652e-01 -4.28733346e-02 1.54755331e-02 3.65909432e+02] [ 4.28813159e-02 9.99080156e-01 -1.84122881e-04 7.80899670e+00] [-1.54534040e-02 8.47542735e-04 9.99880230e-01 -2.11804687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64439141799994 meters 0.06425340096374085 Centerline is valid? [True, True] Translation: X:365.97, Y:7.81, Z:-2.12 [[ 9.98801135e-01 -4.65432878e-02 1.51662195e-02 3.65970236e+02] [ 4.65513776e-02 9.98915881e-01 -1.80632731e-04 7.81156936e+00] [-1.51413703e-02 8.86424587e-04 9.99884970e-01 -2.11931174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70439141799994 meters 0.06518081337286682 Centerline is valid? [True, True] Translation: X:366.03, Y:7.81, Z:-2.12 [[ 9.98741150e-01 -4.78790685e-02 1.49569159e-02 3.66030583e+02] [ 4.78870883e-02 9.98852739e-01 -1.78308844e-04 7.80821612e+00] [-1.49312191e-02 8.94327530e-04 9.99888123e-01 -2.11987659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76439141799995 meters 0.06534536544514674 Centerline is valid? [True, True] Translation: X:366.09, Y:7.81, Z:-2.12 [[ 9.98719323e-01 -4.83506692e-02 1.48972328e-02 3.66092490e+02] [ 4.83586838e-02 9.98830019e-01 -1.78024158e-04 7.80522726e+00] [-1.48711957e-02 8.98206734e-04 9.99889014e-01 -2.12038615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82439141799995 meters 0.06419085733620512 Centerline is valid? [True, True] Translation: X:366.16, Y:7.81, Z:-2.12 [[ 9.98719183e-01 -4.80281724e-02 1.59150344e-02 3.66155013e+02] [ 4.80372903e-02 9.98845525e-01 -1.90905602e-04 7.81253650e+00] [-1.58874921e-02 9.55176216e-04 9.99873330e-01 -2.12245615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88439141799995 meters 0.06411836353520652 Centerline is valid? [True, True] Translation: X:366.22, Y:7.81, Z:-2.12 [[ 9.98763229e-01 -4.73259317e-02 1.52403323e-02 3.66216060e+02] [ 4.73342317e-02 9.98879090e-01 -1.84154915e-04 7.80676381e+00] [-1.52145339e-02 9.05316577e-04 9.99883842e-01 -2.12241150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94439141799995 meters 0.06555450864308617 Centerline is valid? [True, True] Translation: X:366.28, Y:7.80, Z:-2.12 [[ 9.98828311e-01 -4.61410647e-02 1.45947882e-02 3.66276604e+02] [ 4.61485624e-02 9.98934572e-01 -1.77179424e-04 7.80180176e+00] [-1.45710633e-02 8.50500319e-04 9.99893475e-01 -2.12250530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00439141799995 meters 0.06407458154720824 Centerline is valid? [True, True] Translation: X:366.34, Y:7.81, Z:-2.12 [[ 9.98889554e-01 -4.45936846e-02 1.52007252e-02 3.66337567e+02] [ 4.46016422e-02 9.99004835e-01 -1.84724743e-04 7.80872165e+00] [-1.51773604e-02 8.62496921e-04 9.99884445e-01 -2.12482867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06439141799996 meters 0.06488414097754006 Centerline is valid? [True, True] Translation: X:366.40, Y:7.81, Z:-2.12 [[ 9.98936016e-01 -4.34982874e-02 1.53210767e-02 3.66397630e+02] [ 4.35062513e-02 9.99053137e-01 -1.86723280e-04 7.80511653e+00] [-1.52984476e-02 8.53087222e-04 9.99882608e-01 -2.12479870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12439141799996 meters 0.06395188631053204 Centerline is valid? [True, True] Translation: X:366.46, Y:7.80, Z:-2.13 [[ 9.98942588e-01 -4.33490382e-02 1.53155560e-02 3.66460024e+02] [ 4.33570017e-02 9.99059625e-01 -1.88150669e-04 7.80305163e+00] [-1.52929975e-02 8.51988304e-04 9.99882692e-01 -2.12527856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18439141799996 meters 0.06468414704905635 Centerline is valid? [True, True] Translation: X:366.52, Y:7.80, Z:-2.13 [[ 9.98870847e-01 -4.47371926e-02 1.59879499e-02 3.66520573e+02] [ 4.47460636e-02 9.98998374e-01 -1.97385366e-04 7.79953738e+00] [-1.59631055e-02 9.12560312e-04 9.99872165e-01 -2.12587644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24439141799996 meters 0.06508812263526205 Centerline is valid? [True, True] Translation: X:366.58, Y:7.79, Z:-2.13 [[ 9.98861741e-01 -4.48696278e-02 1.61845453e-02 3.66582541e+02] [ 4.48787446e-02 9.98992421e-01 -2.00368995e-04 7.79322554e+00] [-1.61592477e-02 9.26483001e-04 9.99869002e-01 -2.12683692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30439141799997 meters 0.0647894654620569 Centerline is valid? [True, True] Translation: X:366.64, Y:7.79, Z:-2.13 [[ 9.98907021e-01 -4.40924223e-02 1.55120096e-02 3.66642535e+02] [ 4.41007089e-02 9.99027072e-01 -1.92381297e-04 7.79222092e+00] [-1.54884350e-02 8.76261648e-04 9.99879663e-01 -2.12811267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36439141799997 meters 0.0642463985048098 Centerline is valid? [True, True] Translation: X:366.70, Y:7.79, Z:-2.13 [[ 9.98957685e-01 -4.25062016e-02 1.66362937e-02 3.66704170e+02] [ 4.25155195e-02 9.99095785e-01 -2.06660645e-04 7.79140569e+00] [-1.66124666e-02 9.13745909e-04 9.99861586e-01 -2.12917114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters 0.06510656713089308 Centerline is valid? [True, True] Translation: X:366.76, Y:7.78, Z:-2.13 [[ 9.99008721e-01 -4.12261920e-02 1.67921704e-02 3.66764828e+02] [ 4.12355109e-02 9.99149433e-01 -2.08945035e-04 7.78339803e+00] [-1.67692735e-02 9.01171637e-04 9.99858980e-01 -2.12852456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters 0.06617205760885173 Centerline is valid? [True, True] Translation: X:366.83, Y:7.78, Z:-2.13 [[ 9.99081213e-01 -3.97871818e-02 1.59282509e-02 3.66825195e+02] [ 3.97953855e-02 9.99207830e-01 -1.98295131e-04 7.78415906e+00] [-1.59077434e-02 8.31983827e-04 9.99873118e-01 -2.13027573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters 0.06500172750102154 Centerline is valid? [True, True] Translation: X:366.89, Y:7.78, Z:-2.13 [[ 9.99205681e-01 -3.68069675e-02 1.52726775e-02 3.66885587e+02] [ 3.68141637e-02 9.99322111e-01 -1.90212106e-04 7.78318077e+00] [-1.52553232e-02 7.52311867e-04 9.99883348e-01 -2.13131828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters 0.06448493864592554 Centerline is valid? [True, True] Translation: X:366.95, Y:7.78, Z:-2.13 [[ 9.99360569e-01 -3.24941430e-02 1.49192193e-02 3.66946329e+02] [ 3.25005334e-02 9.99471701e-01 -1.86011650e-04 7.78181368e+00] [-1.49052932e-02 6.70775294e-04 9.99888685e-01 -2.13231274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters 0.06530651615859284 Centerline is valid? [True, True] Translation: X:367.01, Y:7.78, Z:-2.13 [[ 9.99443775e-01 -2.95294281e-02 1.54969071e-02 3.67005488e+02] [ 2.95359671e-02 9.99563700e-01 -1.93201173e-04 7.77723474e+00] [-1.54844406e-02 6.50809847e-04 9.99879897e-01 -2.13195439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters 0.0668702622196025 Centerline is valid? [True, True] Translation: X:367.07, Y:7.77, Z:-2.13 [[ 9.99556630e-01 -2.52840718e-02 1.57244462e-02 3.67065253e+02] [ 2.52902785e-02 9.99680131e-01 -1.95958936e-04 7.76661004e+00] [-1.57144618e-02 5.93547678e-04 9.99876344e-01 -2.13034049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7843914179999 meters 0.06623162735820123 Centerline is valid? [True, True] Translation: X:367.13, Y:7.77, Z:-2.13 [[ 9.99666915e-01 -2.11317464e-02 1.48158315e-02 3.67126081e+02] [ 2.11368021e-02 9.99776576e-01 -1.84711781e-04 7.76762631e+00] [-1.48086180e-02 4.97809555e-04 9.99890222e-01 -2.13241632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84439141799993 meters 0.06648103390654518 Centerline is valid? [True, True] Translation: X:367.19, Y:7.76, Z:-2.13 [[ 9.99761251e-01 -1.68593780e-02 1.38996997e-02 3.67186063e+02] [ 1.68634159e-02 9.99857787e-01 -1.73346314e-04 7.76135101e+00] [-1.38948004e-02 4.07701345e-04 9.99903379e-01 -2.13230183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90439141799993 meters 0.0669089448812153 Centerline is valid? [True, True] Translation: X:367.25, Y:7.76, Z:-2.13 [[ 9.99795657e-01 -1.45142068e-02 1.40706267e-02 3.67248005e+02] [ 1.45181168e-02 9.99894591e-01 -1.75774610e-04 7.75981694e+00] [-1.40665923e-02 3.80017695e-04 9.99900988e-01 -2.13211898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96439141799993 meters 0.0658251664649895 Centerline is valid? [True, True] Translation: X:367.31, Y:7.76, Z:-2.13 [[ 9.99801236e-01 -1.32696957e-02 1.48796555e-02 3.67310631e+02] [ 1.32739437e-02 9.99911880e-01 -1.86759982e-04 7.76019460e+00] [-1.48758660e-02 3.84234569e-04 9.99889274e-01 -2.13354745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02439141799994 meters 0.06707315211747301 Centerline is valid? [True, True] Translation: X:367.37, Y:7.75, Z:-2.13 [[ 9.99791768e-01 -1.36279970e-02 1.51887541e-02 3.67371780e+02] [ 1.36324808e-02 9.99907055e-01 -1.91705383e-04 7.75262946e+00] [-1.51847299e-02 3.98725863e-04 9.99884626e-01 -2.13335977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08439141799994 meters 0.06712471780735137 Centerline is valid? [True, True] Translation: X:367.43, Y:7.74, Z:-2.13 [[ 9.99789531e-01 -1.38148874e-02 1.51671669e-02 3.67433020e+02] [ 1.38193953e-02 9.99904489e-01 -1.92442758e-04 7.74342020e+00] [-1.51630597e-02 4.02003330e-04 9.99884953e-01 -2.13317742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14439141799994 meters 0.06611596837333578 Centerline is valid? [True, True] Translation: X:367.50, Y:7.74, Z:-2.14 [[ 9.99813337e-01 -1.23302143e-02 1.48747317e-02 3.67495554e+02] [ 1.23344010e-02 9.99923910e-01 -1.89753758e-04 7.74410931e+00] [-1.48712602e-02 3.73189244e-04 9.99889347e-01 -2.13622387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20439141799994 meters 0.06667955351125547 Centerline is valid? [True, True] Translation: X:367.56, Y:7.74, Z:-2.14 [[ 9.99832372e-01 -1.00131464e-02 1.53285907e-02 3.67557507e+02] [ 1.00173310e-02 9.99949806e-01 -1.96240173e-04 7.74129738e+00] [-1.53258563e-02 3.49758845e-04 9.99882491e-01 -2.13761653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26439141799995 meters 0.06632298815939795 Centerline is valid? [True, True] Translation: X:367.62, Y:7.74, Z:-2.14 [[ 9.99845268e-01 -4.90494958e-03 1.68932246e-02 3.67618222e+02] [ 4.90930825e-03 9.99987926e-01 -2.16552632e-04 7.73844618e+00] [-1.68919584e-02 2.99453172e-04 9.99857276e-01 -2.13803048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32439141799995 meters 0.0667502720325686 Centerline is valid? [True, True] Translation: X:367.68, Y:7.73, Z:-2.14 [[ 9.99855752e-01 2.00394132e-03 1.68659375e-02 3.67677616e+02] [-2.00057845e-03 9.99997975e-01 -2.16258013e-04 7.73447553e+00] [-1.68663367e-02 1.82485187e-04 9.99857737e-01 -2.13741513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38439141799995 meters 0.06711592699833938 Centerline is valid? [True, True] Translation: X:367.74, Y:7.73, Z:-2.14 [[ 9.99831249e-01 7.98960732e-03 1.65420776e-02 3.67738364e+02] [-7.98718676e-03 9.99968079e-01 -2.12389742e-04 7.73310588e+00] [-1.65432465e-02 8.02292373e-05 9.99863148e-01 -2.13762530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44439141799995 meters 0.06777480215143274 Centerline is valid? [True, True] Translation: X:367.80, Y:7.73, Z:-2.14 [[ 9.99713161e-01 1.73800545e-02 1.64781377e-02 3.67800204e+02] [-1.73789191e-02 9.99848953e-01 -2.12108002e-04 7.73443857e+00] [-1.64793352e-02 -7.43250610e-05 9.99864204e-01 -2.13867544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50439141799995 meters 0.0680564469414463 Centerline is valid? [True, True] Translation: X:367.86, Y:7.73, Z:-2.14 [[ 9.99501622e-01 2.70872514e-02 1.62107283e-02 3.67859928e+02] [-2.70874253e-02 9.99633047e-01 -2.08879330e-04 7.73462645e+00] [-1.62104377e-02 -2.30331664e-04 9.99868576e-01 -2.14091205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56439141799996 meters 0.0683204526942178 Centerline is valid? [True, True] Translation: X:367.92, Y:7.73, Z:-2.14 [[ 9.99302459e-01 3.36358006e-02 1.62243372e-02 3.67920326e+02] [-3.36368377e-02 9.99434100e-01 -2.09039963e-04 7.73396732e+00] [-1.62221870e-02 -3.36841247e-04 9.99868355e-01 -2.14159158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62439141799996 meters 0.06846447953799772 Centerline is valid? [True, True] Translation: X:367.98, Y:7.72, Z:-2.15 [[ 9.99029838e-01 4.09300828e-02 1.62514719e-02 3.67980135e+02] [-4.09320886e-02 9.99161909e-01 -2.09325262e-04 7.71769303e+00] [-1.62464194e-02 -4.56084505e-04 9.99867914e-01 -2.14821379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68439141799996 meters 0.0709434881411354 Centerline is valid? [True, True] Translation: X:368.04, Y:7.70, Z:-2.15 [[ 9.98712893e-01 4.79510304e-02 1.65304442e-02 3.68039843e+02] [-4.79540668e-02 9.98849519e-01 -2.12868206e-04 7.70225467e+00] [-1.65216335e-02 -5.80107806e-04 9.99863340e-01 -2.15353481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74439141799996 meters 0.07117656883327834 Centerline is valid? [True, True] Translation: X:368.10, Y:7.70, Z:-2.15 [[ 9.98457805e-01 5.30731195e-02 1.62866768e-02 3.68099254e+02] [-5.30767477e-02 9.98590414e-01 -2.09700860e-04 7.70302924e+00] [-1.62748488e-02 -6.55066375e-04 9.99867341e-01 -2.15250888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80439141799997 meters 0.07281283293338267 Centerline is valid? [True, True] Translation: X:368.16, Y:7.69, Z:-2.16 [[ 9.98201792e-01 5.74506560e-02 1.71056871e-02 3.68159771e+02] [-5.74552999e-02 9.98348056e-01 -2.20243239e-04 7.69106981e+00] [-1.70900826e-02 -7.62965186e-04 9.99853663e-01 -2.15583106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86439141799997 meters 0.0718221195658921 Centerline is valid? [True, True] Translation: X:368.22, Y:7.69, Z:-2.16 [[ 9.98088810e-01 5.93488656e-02 1.72174363e-02 3.68218907e+02] [-5.93538534e-02 9.98236981e-01 -2.21609958e-04 7.69435879e+00] [-1.72002339e-02 -8.00734770e-04 9.99851744e-01 -2.15546667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters 0.07279042096102024 Centerline is valid? [True, True] Translation: X:368.28, Y:7.69, Z:-2.16 [[ 9.98032292e-01 6.01898746e-02 1.75705237e-02 3.68277878e+02] [-6.01952043e-02 9.98186599e-01 -2.25859602e-04 7.69050284e+00] [-1.75522558e-02 -8.32246089e-04 9.99845601e-01 -2.15810730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters 0.07210275831913475 Centerline is valid? [True, True] Translation: X:368.34, Y:7.69, Z:-2.16 [[ 9.98129282e-01 5.85472782e-02 1.76111616e-02 3.68338081e+02] [-5.85523813e-02 9.98284312e-01 -2.26165875e-04 7.69167246e+00] [-1.75941878e-02 -8.05432668e-04 9.99844886e-01 -2.15911055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters 0.07177953670885061 Centerline is valid? [True, True] Translation: X:368.40, Y:7.69, Z:-2.16 [[ 9.98254964e-01 5.66568777e-02 1.66440561e-02 3.68398473e+02] [-5.66611746e-02 9.98393442e-01 -2.13670380e-04 7.69160049e+00] [-1.66294224e-02 -7.29774251e-04 9.99861455e-01 -2.16022134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters 0.07133577481651882 Centerline is valid? [True, True] Translation: X:368.46, Y:7.70, Z:-2.16 [[ 9.98378458e-01 5.40221142e-02 1.79462177e-02 3.68457450e+02] [-5.40266875e-02 9.98539465e-01 -2.30250071e-04 7.69578729e+00] [-1.79324452e-02 -7.39697985e-04 9.99838927e-01 -2.16201753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters 0.07104120135992381 Centerline is valid? [True, True] Translation: X:368.52, Y:7.70, Z:-2.16 [[ 9.98502923e-01 5.14412472e-02 1.85933244e-02 3.68517565e+02] [-5.14457117e-02 9.98675764e-01 -2.38441514e-04 7.69551858e+00] [-1.85809682e-02 -7.18462257e-04 9.99827101e-01 -2.16391012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters 0.07040833681129319 Centerline is valid? [True, True] Translation: X:368.58, Y:7.70, Z:-2.17 [[ 9.98648746e-01 4.86873749e-02 1.81720234e-02 3.68578238e+02] [-4.86911847e-02 9.98813854e-01 -2.32995929e-04 7.69527128e+00] [-1.81618127e-02 -6.52136256e-04 9.99834848e-01 -2.16724197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2843914179999 meters 0.07036357419530645 Centerline is valid? [True, True] Translation: X:368.64, Y:7.70, Z:-2.17 [[ 9.98717908e-01 4.72643702e-02 1.81278894e-02 3.68638130e+02] [-4.72679308e-02 9.98882220e-01 -2.32238642e-04 7.69567039e+00] [-1.81186030e-02 -6.24926932e-04 9.99835649e-01 -2.16924445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34439141799993 meters 0.06714592202986057 Centerline is valid? [True, True] Translation: X:368.70, Y:7.74, Z:-2.16 [[ 9.98699885e-01 4.72966649e-02 1.90148704e-02 3.68696988e+02] [-4.73005992e-02 9.98880671e-01 -2.43041532e-04 7.73603612e+00] [-1.90050816e-02 -6.56689216e-04 9.99819171e-01 -2.15680080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40439141799993 meters 0.06810892752364417 Centerline is valid? [True, True] Translation: X:368.75, Y:7.71, Z:-2.17 [[ 9.98596815e-01 4.94741879e-02 1.88866643e-02 3.68754603e+02] [-4.94784706e-02 9.98775161e-01 -2.40739599e-04 7.70852233e+00] [-1.88754416e-02 -6.94081470e-04 9.99821602e-01 -2.16797519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46439141799993 meters 0.07119714604415381 Centerline is valid? [True, True] Translation: X:368.81, Y:7.70, Z:-2.17 [[ 9.98345530e-01 5.38177612e-02 2.02447881e-02 3.68814934e+02] [-5.38235802e-02 9.98550427e-01 -2.57730427e-04 7.70387852e+00] [-2.02293123e-02 -8.32342958e-04 9.99795020e-01 -2.17302888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52439141799994 meters 0.06901040014797324 Centerline is valid? [True, True] Translation: X:368.87, Y:7.72, Z:-2.17 [[ 9.98121506e-01 5.81386256e-02 1.93225005e-02 3.68874887e+02] [-5.81447367e-02 9.98308133e-01 -2.45861455e-04 7.71999260e+00] [-1.93041035e-02 -8.78102100e-04 9.99813273e-01 -2.16894440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58439141799994 meters 0.07196820464684539 Centerline is valid? [True, True] Translation: X:368.94, Y:7.71, Z:-2.18 [[ 9.97923527e-01 6.11060721e-02 2.03637720e-02 3.68935375e+02] [-6.11134768e-02 9.98130791e-01 -2.59075520e-04 7.70987394e+00] [-2.03415390e-02 -9.85963352e-04 9.99792603e-01 -2.17554906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64439141799994 meters 0.07171870844980716 Centerline is valid? [True, True] Translation: X:368.99, Y:7.71, Z:-2.18 [[ 9.97929181e-01 6.11189538e-02 2.00455243e-02 3.68992727e+02] [-6.11261544e-02 9.98130016e-01 -2.53878895e-04 7.71386000e+00] [-2.00235563e-02 -9.71952655e-04 9.99799036e-01 -2.17629251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70439141799994 meters 0.06749562221612843 Centerline is valid? [True, True] Translation: X:369.05, Y:7.74, Z:-2.17 [[ 9.98067484e-01 5.89502989e-02 1.96509583e-02 3.69052175e+02] [-5.89568112e-02 9.98260503e-01 -2.48276481e-04 7.73561697e+00] [-1.96314115e-02 -9.10761153e-04 9.99806870e-01 -2.17130737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76439141799995 meters 0.06835802458395421 Centerline is valid? [True, True] Translation: X:369.11, Y:7.73, Z:-2.18 [[ 9.98300660e-01 5.45769470e-02 2.04242175e-02 3.69112096e+02] [-5.45830709e-02 9.98509200e-01 -2.57929245e-04 7.72789405e+00] [-2.04078460e-02 -8.57325573e-04 9.99791371e-01 -2.17829162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82439141799995 meters 0.06593716797122977 Centerline is valid? [True, True] Translation: X:369.17, Y:7.76, Z:-2.17 [[ 9.98472351e-01 5.12309199e-02 2.06967802e-02 3.69172552e+02] [-5.12364890e-02 9.98686514e-01 -2.61450715e-04 7.76286740e+00] [-2.06829897e-02 -7.99379043e-04 9.99785765e-01 -2.16757562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88439141799995 meters 0.06537555663350182 Centerline is valid? [True, True] Translation: X:369.23, Y:7.76, Z:-2.17 [[ 9.98616651e-01 4.80085253e-02 2.14468243e-02 3.69231545e+02] [-4.80137681e-02 9.98846637e-01 -2.70705702e-04 7.75839254e+00] [-2.14350845e-02 -7.59411627e-04 9.99769954e-01 -2.17128963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94439141799995 meters 0.06554894354495551 Centerline is valid? [True, True] Translation: X:369.29, Y:7.77, Z:-2.17 [[ 9.98834741e-01 4.27424361e-02 2.24108188e-02 3.69291797e+02] [-4.27468365e-02 9.99085896e-01 -2.82887706e-04 7.77197132e+00] [-2.24024243e-02 -6.75433539e-04 9.99748806e-01 -2.16625259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00439141799995 meters 0.06675673600222985 Centerline is valid? [True, True] Translation: X:369.35, Y:7.77, Z:-2.17 [[ 9.98984379e-01 3.92003164e-02 2.22158827e-02 3.69351165e+02] [-3.92037708e-02 9.99231197e-01 -2.80182124e-04 7.77252829e+00] [-2.22097863e-02 -5.91048809e-04 9.99753158e-01 -2.16708753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06439141799996 meters 0.0638520654973422 Centerline is valid? [True, True] Translation: X:369.41, Y:7.77, Z:-2.17 [[ 9.99182513e-01 3.48174705e-02 2.05438383e-02 3.69411154e+02] [-3.48195009e-02 9.99393584e-01 -2.58969189e-04 7.76624301e+00] [-2.05403968e-02 -4.56568711e-04 9.99788920e-01 -2.17357877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12439141799996 meters 0.0644822884458801 Centerline is valid? [True, True] Translation: X:369.47, Y:7.77, Z:-2.17 [[ 9.99263889e-01 3.19341460e-02 2.12577276e-02 3.69469254e+02] [-3.19356792e-02 9.99489890e-01 -2.67432656e-04 7.77481352e+00] [-2.12554241e-02 -4.11644175e-04 9.99773993e-01 -2.17131053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18439141799996 meters 0.06409840258957994 Centerline is valid? [True, True] Translation: X:369.53, Y:7.78, Z:-2.17 [[ 9.99278720e-01 3.07384575e-02 2.22976890e-02 3.69528473e+02] [-3.07398615e-02 9.99527380e-01 -2.79868513e-04 7.77672222e+00] [-2.22957533e-02 -4.05761220e-04 9.99751336e-01 -2.17183390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24439141799996 meters 0.06407162660604401 Centerline is valid? [True, True] Translation: X:369.59, Y:7.78, Z:-2.17 [[ 9.99346226e-01 2.75436364e-02 2.34194172e-02 3.69587669e+02] [-2.75443195e-02 9.99620540e-01 -2.93474242e-04 7.78144918e+00] [-2.34186138e-02 -3.51789532e-04 9.99725685e-01 -2.17065371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30439141799997 meters 0.06380051712634371 Centerline is valid? [True, True] Translation: X:369.65, Y:7.78, Z:-2.17 [[ 9.99511926e-01 2.21324306e-02 2.20468805e-02 3.69647540e+02] [-2.21317219e-02 9.99755025e-01 -2.76174897e-04 7.78162334e+00] [-2.20475920e-02 -2.11895324e-04 9.99756900e-01 -2.17201254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36439141799997 meters 0.06331510973337418 Centerline is valid? [True, True] Translation: X:369.71, Y:7.78, Z:-2.18 [[ 9.99620289e-01 1.65792029e-02 2.20092795e-02 3.69709414e+02] [-1.65771415e-02 9.99862552e-01 -2.76119111e-04 7.78109164e+00] [-2.20108322e-02 -8.88366732e-05 9.99757728e-01 -2.17705671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters 0.06272722983121858 Centerline is valid? [True, True] Translation: X:369.77, Y:7.78, Z:-2.18 [[ 9.99661565e-01 1.45492248e-02 2.15656080e-02 3.69770822e+02] [-1.45467470e-02 9.99894154e-01 -2.71771288e-04 7.78260868e+00] [-2.15672794e-02 -4.20301331e-05 9.99767398e-01 -2.17859495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters 0.0626639271436412 Centerline is valid? [True, True] Translation: X:369.83, Y:7.79, Z:-2.18 [[ 9.99697659e-01 1.25774265e-02 2.11281590e-02 3.69831734e+02] [-1.25745644e-02 9.99920901e-01 -2.68314469e-04 7.78647230e+00] [-2.11298625e-02 2.55595003e-06 9.99776740e-01 -2.17656820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters 0.06256859806011804 Centerline is valid? [True, True] Translation: X:369.89, Y:7.79, Z:-2.18 [[ 9.99692747e-01 1.25674729e-02 2.13651651e-02 3.69894082e+02] [-1.25644895e-02 9.99921026e-01 -2.73873816e-04 7.79002913e+00] [-2.13669197e-02 5.34727501e-06 9.99771701e-01 -2.17550299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters 0.0628915641872744 Centerline is valid? [True, True] Translation: X:369.96, Y:7.79, Z:-2.18 [[ 9.99676629e-01 1.35347515e-02 2.15278294e-02 3.69956675e+02] [-1.35319120e-02 9.99908401e-01 -2.77574108e-04 7.79450268e+00] [-2.15296144e-02 -1.38283447e-05 9.99768211e-01 -2.17814251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters 0.062057055411941696 Centerline is valid? [True, True] Translation: X:370.02, Y:7.80, Z:-2.18 [[ 9.99635233e-01 1.54685430e-02 2.21387607e-02 3.70018728e+02] [-1.54659946e-02 9.99880353e-01 -2.86332612e-04 7.79818093e+00] [-2.21405410e-02 -5.61697859e-05 9.99754867e-01 -2.18118868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters 0.062294298367157185 Centerline is valid? [True, True] Translation: X:370.08, Y:7.80, Z:-2.18 [[ 9.99567544e-01 1.95445289e-02 2.19712732e-02 3.70079532e+02] [-1.95429934e-02 9.99808977e-01 -2.84625007e-04 7.80402937e+00] [-2.19726391e-02 -1.44882528e-04 9.99758562e-01 -2.18342122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7843914179999 meters 0.061746130919617975 Centerline is valid? [True, True] Translation: X:370.14, Y:7.81, Z:-2.19 [[ 9.99485496e-01 2.11758270e-02 2.40899970e-02 3.70140347e+02] [-2.11744445e-02 9.99775748e-01 -3.12498277e-04 7.80774265e+00] [-2.40912122e-02 -1.97754810e-04 9.99709745e-01 -2.18898333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84439141799993 meters 0.062307144734735774 Centerline is valid? [True, True] Translation: X:370.20, Y:7.81, Z:-2.18 [[ 9.99481341e-01 2.21046238e-02 2.34186832e-02 3.70201771e+02] [-2.21035414e-02 9.99755640e-01 -3.05104390e-04 7.81308827e+00] [-2.34197048e-02 -2.12689688e-04 9.99725698e-01 -2.18334097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90439141799993 meters 0.0627822358889851 Centerline is valid? [True, True] Translation: X:370.26, Y:7.82, Z:-2.19 [[ 9.99486655e-01 2.16346149e-02 2.36298393e-02 3.70262716e+02] [-2.16333649e-02 9.99765924e-01 -3.08560729e-04 7.81511909e+00] [-2.36309837e-02 -2.02790603e-04 9.99720729e-01 -2.18600941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96439141799993 meters 0.06162694342418316 Centerline is valid? [True, True] Translation: X:370.32, Y:7.82, Z:-2.19 [[ 9.99550039e-01 1.82962101e-02 2.37690549e-02 3.70323953e+02] [-1.82939892e-02 9.99832603e-01 -3.10898284e-04 7.81642618e+00] [-2.37707643e-02 -1.24072442e-04 9.99717428e-01 -2.18607050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02439141799994 meters 0.0617085631497647 Centerline is valid? [True, True] Translation: X:370.39, Y:7.82, Z:-2.19 [[ 9.99629502e-01 1.41008889e-02 2.32814207e-02 3.70385335e+02] [-1.40975757e-02 9.99900577e-01 -3.06438290e-04 7.81515768e+00] [-2.32834271e-02 -2.18868368e-05 9.99728904e-01 -2.18762453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08439141799994 meters 0.06034113528103402 Centerline is valid? [True, True] Translation: X:370.45, Y:7.81, Z:-2.19 [[ 9.99671071e-01 1.04723407e-02 2.34110902e-02 3.70447963e+02] [-1.04679564e-02 9.99945161e-01 -3.09821584e-04 7.81455759e+00] [-2.34130509e-02 6.46534045e-05 9.99725875e-01 -2.19442573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14439141799994 meters 0.059717722822554185 Centerline is valid? [True, True] Translation: X:370.51, Y:7.82, Z:-2.20 [[ 9.99716299e-01 6.64685970e-03 2.28722882e-02 3.70510153e+02] [-6.64161869e-03 9.99977898e-01 -3.05100039e-04 7.81694868e+00] [-2.28738106e-02 1.53104465e-04 9.99738348e-01 -2.19826661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20439141799994 meters 0.059799778767970185 Centerline is valid? [True, True] Translation: X:370.57, Y:7.82, Z:-2.20 [[ 9.99751512e-01 3.81764557e-03 2.19622515e-02 3.70571846e+02] [-3.81207642e-03 9.99992690e-01 -2.95438983e-04 7.81847041e+00] [-2.19632188e-02 2.11643789e-04 9.99758757e-01 -2.19821631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26439141799995 meters 0.060058473502574615 Centerline is valid? [True, True] Translation: X:370.63, Y:7.82, Z:-2.20 [[ 9.99755089e-01 2.06241110e-03 2.20342523e-02 3.70634222e+02] [-2.05632266e-03 9.99997841e-01 -2.98970824e-04 7.82280668e+00] [-2.20348213e-02 2.53588071e-04 9.99757172e-01 -2.19998891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32439141799995 meters 0.059441144019117514 Centerline is valid? [True, True] Translation: X:370.70, Y:7.82, Z:-2.20 [[ 9.99764030e-01 1.03074459e-03 2.16984377e-02 3.70695611e+02] [-1.02454253e-03 9.99999431e-01 -2.96944973e-04 7.82413357e+00] [-2.16987315e-02 2.74643931e-04 9.99764517e-01 -2.19733308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38439141799995 meters 0.06002861275135526 Centerline is valid? [True, True] Translation: X:370.76, Y:7.83, Z:-2.20 [[ 9.99787178e-01 -1.17768731e-03 2.05964098e-02 3.70756485e+02] [ 1.18377615e-03 9.99999259e-01 -2.83436691e-04 7.82705494e+00] [-2.05960607e-02 3.07757908e-04 9.99787831e-01 -2.19752934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44439141799995 meters 0.05893308054315419 Centerline is valid? [True, True] Translation: X:370.82, Y:7.83, Z:-2.20 [[ 9.99787624e-01 -4.69577148e-03 2.00662916e-02 3.70818396e+02] [ 4.70228147e-03 9.99988906e-01 -2.77252782e-04 7.83258913e+00] [-2.00647670e-02 3.71551251e-04 9.99798613e-01 -2.19997298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50439141799995 meters 0.05821912093673817 Centerline is valid? [True, True] Translation: X:370.88, Y:7.84, Z:-2.20 [[ 9.99759631e-01 -8.68857854e-03 2.01293037e-02 3.70879982e+02] [ 8.69594950e-03 9.99962151e-01 -2.78677306e-04 7.83901319e+00] [-2.01261205e-02 4.53653730e-04 9.99797346e-01 -2.20168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56439141799996 meters 0.05885791748967467 Centerline is valid? [True, True] Translation: X:370.94, Y:7.84, Z:-2.20 [[ 9.99741440e-01 -1.18436239e-02 1.94108457e-02 3.70939956e+02] [ 1.18510799e-02 9.99929737e-01 -2.69122844e-04 7.83660759e+00] [-1.94062944e-02 4.99092742e-04 9.99811556e-01 -2.20042269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62439141799996 meters 0.05823972656272618 Centerline is valid? [True, True] Translation: X:371.00, Y:7.84, Z:-2.20 [[ 9.99693640e-01 -1.67563159e-02 1.82168201e-02 3.71000344e+02] [ 1.67637001e-02 9.99859447e-01 -2.52711613e-04 7.84211170e+00] [-1.82100252e-02 5.58015502e-04 9.99834028e-01 -2.20256473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68439141799996 meters 0.05891536144886552 Centerline is valid? [True, True] Translation: X:371.06, Y:7.84, Z:-2.20 [[ 9.99635233e-01 -1.99205349e-02 1.82366073e-02 3.71059910e+02] [ 1.99284674e-02 9.99801376e-01 -2.53335691e-04 7.83571068e+00] [-1.82279385e-02 6.16670916e-04 9.99833667e-01 -2.20048211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74439141799996 meters 0.05762476797220911 Centerline is valid? [True, True] Translation: X:371.12, Y:7.85, Z:-2.20 [[ 9.99637959e-01 -2.11851220e-02 1.65874002e-02 3.71122205e+02] [ 2.11918808e-02 9.99775400e-01 -2.31779556e-04 7.84562502e+00] [-1.65787644e-02 5.83213850e-04 9.99862393e-01 -2.20477755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80439141799997 meters 0.057518108454675136 Centerline is valid? [True, True] Translation: X:371.18, Y:7.85, Z:-2.21 [[ 9.99657710e-01 -2.05006331e-02 1.62538553e-02 3.71184238e+02] [ 2.05070503e-02 9.99789682e-01 -2.28217352e-04 7.84606757e+00] [-1.62457582e-02 5.61457862e-04 9.99867871e-01 -2.20615841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86439141799997 meters 0.057695693973385496 Centerline is valid? [True, True] Translation: X:371.25, Y:7.85, Z:-2.21 [[ 9.99670333e-01 -2.00322437e-02 1.60603250e-02 3.71246973e+02] [ 2.00384593e-02 9.99799184e-01 -2.26169255e-04 7.84647407e+00] [-1.60525691e-02 5.47918862e-04 9.99870999e-01 -2.20726962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters 0.058175537490187126 Centerline is valid? [True, True] Translation: X:371.31, Y:7.84, Z:-2.20 [[ 9.99662642e-01 -2.01543930e-02 1.63829804e-02 3.71308362e+02] [ 2.01608920e-02 9.99796722e-01 -2.31617591e-04 7.83614959e+00] [-1.63749820e-02 5.61834953e-04 9.99865763e-01 -2.20436712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters 0.057286790423906365 Centerline is valid? [True, True] Translation: X:371.37, Y:7.84, Z:-2.21 [[ 9.99646183e-01 -2.10114335e-02 1.63104073e-02 3.71370063e+02] [ 2.10180138e-02 9.99779070e-01 -2.32112277e-04 7.84042665e+00] [-1.63019269e-02 5.74842518e-04 9.99866950e-01 -2.20884167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters 0.05828009085240564 Centerline is valid? [True, True] Translation: X:371.43, Y:7.83, Z:-2.21 [[ 9.99654198e-01 -2.08476910e-02 1.60267955e-02 3.71431021e+02] [ 2.08540507e-02 9.99782504e-01 -2.29779686e-04 7.83171853e+00] [-1.60185193e-02 5.63923833e-04 9.99871536e-01 -2.20774703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters 0.05878637098212667 Centerline is valid? [True, True] Translation: X:371.49, Y:7.83, Z:-2.21 [[ 9.99700001e-01 -1.88014117e-02 1.56976292e-02 3.71491552e+02] [ 1.88072705e-02 9.99823102e-01 -2.25675468e-04 7.82880474e+00] [-1.56906094e-02 5.20837325e-04 9.99876759e-01 -2.20817692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters 0.05806707398812899 Centerline is valid? [True, True] Translation: X:371.55, Y:7.83, Z:-2.21 [[ 9.99771451e-01 -1.47739720e-02 1.54523804e-02 3.71551753e+02] [ 1.47791689e-02 9.99890757e-01 -2.22172506e-04 7.82933683e+00] [-1.54474100e-02 4.50495068e-04 9.99880580e-01 -2.21059676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters 0.05725312143583813 Centerline is valid? [True, True] Translation: X:371.61, Y:7.83, Z:-2.21 [[ 9.99783769e-01 -1.35307013e-02 1.57903631e-02 3.71613859e+02] [ 1.35359799e-02 9.99908359e-01 -2.27455639e-04 7.83080164e+00] [-1.57858384e-02 4.41144493e-04 9.99875299e-01 -2.21169648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2843914179999 meters 0.058119738335645994 Centerline is valid? [True, True] Translation: X:371.67, Y:7.82, Z:-2.21 [[ 9.99839609e-01 -8.46248684e-03 1.57842375e-02 3.71673005e+02] [ 8.46713302e-03 9.99964127e-01 -2.27549487e-04 7.82188862e+00] [-1.57817457e-02 3.61160228e-04 9.99875395e-01 -2.21135745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34439141799993 meters 0.05739832409359068 Centerline is valid? [True, True] Translation: X:371.73, Y:7.82, Z:-2.21 [[ 9.99855982e-01 -4.23622545e-03 1.64337971e-02 3.71733492e+02] [ 4.24069063e-03 9.99990980e-01 -2.36869215e-04 7.81836642e+00] [-1.64326454e-02 3.06525751e-04 9.99864928e-01 -2.21210484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40439141799993 meters 0.058266243823669184 Centerline is valid? [True, True] Translation: X:371.80, Y:7.82, Z:-2.21 [[ 9.99854167e-01 -8.52901604e-04 1.70563011e-02 3.71795145e+02] [ 8.57225472e-04 9.99999602e-01 -2.46196135e-04 7.81581843e+00] [-1.70560844e-02 2.60781327e-04 9.99854500e-01 -2.21285881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46439141799993 meters 0.0579920300504743 Centerline is valid? [True, True] Translation: X:371.86, Y:7.81, Z:-2.21 [[ 9.99860917e-01 1.75336418e-03 1.65853266e-02 3.71856265e+02] [-1.74962834e-03 9.99998441e-01 -2.39757054e-04 7.81267578e+00] [-1.65857212e-02 2.10705550e-04 9.99862425e-01 -2.21448891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52439141799994 meters 0.05811396552277082 Centerline is valid? [True, True] Translation: X:371.92, Y:7.81, Z:-2.22 [[ 9.99861497e-01 5.54831105e-03 1.56908358e-02 3.71917432e+02] [-5.54542801e-03 9.99984598e-01 -2.27243678e-04 7.80870547e+00] [-1.56918549e-02 1.40199804e-04 9.99876865e-01 -2.21751149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58439141799994 meters 0.05803390159303539 Centerline is valid? [True, True] Translation: X:371.98, Y:7.81, Z:-2.22 [[ 9.99829514e-01 1.07745324e-02 1.49950619e-02 3.71979465e+02] [-1.07724796e-02 9.99941951e-01 -2.17664168e-04 7.80686435e+00] [-1.49965367e-02 5.60930613e-05 9.99887544e-01 -2.21832387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64439141799994 meters 0.057943645362085475 Centerline is valid? [True, True] Translation: X:372.04, Y:7.80, Z:-2.22 [[ 9.99796008e-01 1.38524867e-02 1.46986551e-02 3.72040605e+02] [-1.38508363e-02 9.99904050e-01 -2.14076309e-04 7.80390479e+00] [-1.47002102e-02 1.04439736e-05 9.99891946e-01 -2.21730103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70439141799994 meters 0.058693876924834576 Centerline is valid? [True, True] Translation: X:372.10, Y:7.80, Z:-2.22 [[ 9.99749665e-01 1.70545128e-02 1.44827898e-02 3.72101368e+02] [-1.70532404e-02 9.99854561e-01 -2.11356639e-04 7.80073671e+00] [-1.44842880e-02 -3.56747669e-05 9.99895097e-01 -2.21982876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76439141799995 meters 0.0596149574832167 Centerline is valid? [True, True] Translation: X:372.16, Y:7.80, Z:-2.22 [[ 9.99744169e-01 1.83820107e-02 1.31794745e-02 3.72160615e+02] [-1.83810726e-02 9.99831035e-01 -1.92320999e-04 7.79785476e+00] [-1.31807829e-02 -4.99810804e-05 9.99913128e-01 -2.22071990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82439141799995 meters 0.05911112249778555 Centerline is valid? [True, True] Translation: X:372.22, Y:7.79, Z:-2.22 [[ 9.99752675e-01 1.75217425e-02 1.36958899e-02 3.72219648e+02] [-1.75206522e-02 9.99846482e-01 -1.99601197e-04 7.79266096e+00] [-1.36972847e-02 -4.04090924e-05 9.99906187e-01 -2.22155728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88439141799995 meters 0.05941524921432971 Centerline is valid? [True, True] Translation: X:372.28, Y:7.79, Z:-2.22 [[ 9.99751703e-01 1.70975522e-02 1.42900411e-02 3.72278064e+02] [-1.70963272e-02 9.99853826e-01 -2.07886633e-04 7.79015249e+00] [-1.42915066e-02 -3.64722015e-05 9.99897871e-01 -2.21968248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94439141799995 meters 0.05852908136185126 Centerline is valid? [True, True] Translation: X:372.34, Y:7.79, Z:-2.22 [[ 9.99747008e-01 1.79857095e-02 1.35068024e-02 3.72337494e+02] [-1.79846997e-02 9.99838243e-01 -1.96227448e-04 7.78770796e+00] [-1.35081469e-02 -4.67379822e-05 9.99908760e-01 -2.22160231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00439141799995 meters 0.05854132059880423 Centerline is valid? [True, True] Translation: X:372.40, Y:7.79, Z:-2.22 [[ 9.99729339e-01 1.90868972e-02 1.33018569e-02 3.72396613e+02] [-1.90860191e-02 9.99817827e-01 -1.92969710e-04 7.78620116e+00] [-1.33031168e-02 -6.09620128e-05 9.99911508e-01 -2.22330460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06439141799996 meters 0.059054238972364816 Centerline is valid? [True, True] Translation: X:372.45, Y:7.79, Z:-2.22 [[ 9.99727596e-01 1.91532646e-02 1.33374255e-02 3.72454925e+02] [-1.91523922e-02 9.99816557e-01 -1.93147466e-04 7.78558920e+00] [-1.33386783e-02 -6.23487526e-05 9.99911034e-01 -2.22292532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12439141799996 meters 0.05888375893782435 Centerline is valid? [True, True] Translation: X:372.51, Y:7.78, Z:-2.22 [[ 9.99743467e-01 1.80965512e-02 1.36204037e-02 3.72513254e+02] [-1.80955480e-02 9.99836243e-01 -1.96902032e-04 7.78415504e+00] [-1.36217365e-02 -4.96171481e-05 9.99907219e-01 -2.22368646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18439141799996 meters 0.0589944822853544 Centerline is valid? [True, True] Translation: X:372.57, Y:7.78, Z:-2.22 [[ 9.99770452e-01 1.69154264e-02 1.31495785e-02 3.72571866e+02] [-1.69143934e-02 9.99856923e-01 -1.89775971e-04 7.78407783e+00] [-1.31509073e-02 -3.26847353e-05 9.99913523e-01 -2.22369946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24439141799996 meters 0.05859086488124104 Centerline is valid? [True, True] Translation: X:372.63, Y:7.78, Z:-2.23 [[ 9.99798311e-01 1.62654798e-02 1.17801264e-02 3.72631927e+02] [-1.62646083e-02 9.99867708e-01 -1.69784054e-04 7.78388904e+00] [-1.17813296e-02 -2.18493316e-05 9.99930597e-01 -2.22628491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30439141799997 meters 0.0578920469368981 Centerline is valid? [True, True] Translation: X:372.69, Y:7.78, Z:-2.24 [[ 9.99812153e-01 1.58212684e-02 1.11958186e-02 3.72690700e+02] [-1.58204558e-02 9.99874836e-01 -1.61142556e-04 7.78322113e+00] [-1.11969667e-02 -1.60106670e-05 9.99937312e-01 -2.23640521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36439141799997 meters 0.05932739638363292 Centerline is valid? [True, True] Translation: X:372.75, Y:7.79, Z:-2.23 [[ 9.99820832e-01 1.51367200e-02 1.13658916e-02 3.72749339e+02] [-1.51358416e-02 9.99885433e-01 -1.63307857e-04 7.78680310e+00] [-1.13670614e-02 -8.75373811e-06 9.99935393e-01 -2.22723272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters 0.05863203329989734 Centerline is valid? [True, True] Translation: X:372.81, Y:7.79, Z:-2.23 [[ 9.99835121e-01 1.41020340e-02 1.14395736e-02 3.72807925e+02] [-1.41010797e-02 9.99900561e-01 -1.64079063e-04 7.78864428e+00] [-1.14407499e-02 2.74167061e-06 9.99934552e-01 -2.22719952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters 0.05951979631856517 Centerline is valid? [True, True] Translation: X:372.87, Y:7.79, Z:-2.23 [[ 9.99834323e-01 1.42871856e-02 1.12783937e-02 3.72867865e+02] [-1.42862720e-02 9.99897933e-01 -1.61576051e-04 7.79151004e+00] [-1.12795510e-02 4.23082576e-07 9.99936384e-01 -2.22781428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters 0.05861022135960668 Centerline is valid? [True, True] Translation: X:372.93, Y:7.80, Z:-2.23 [[ 9.99802358e-01 1.67395033e-02 1.07253570e-02 3.72927118e+02] [-1.67388190e-02 9.99859884e-01 -1.53567054e-04 7.79530572e+00] [-1.07264248e-02 -2.59931065e-05 9.99942470e-01 -2.22965799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters 0.058879074934259534 Centerline is valid? [True, True] Translation: X:372.98, Y:7.80, Z:-2.23 [[ 9.99757227e-01 1.90356525e-02 1.10964636e-02 3.72984568e+02] [-1.90350645e-02 9.99818804e-01 -1.58613499e-04 7.79882368e+00] [-1.10974723e-02 -5.26469090e-05 9.99938420e-01 -2.22883124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters 0.0590645345698942 Centerline is valid? [True, True] Translation: X:373.04, Y:7.80, Z:-2.23 [[ 9.99738769e-01 2.00005779e-02 1.10621738e-02 3.73043211e+02] [-2.00000572e-02 9.99799966e-01 -1.57705253e-04 7.80010691e+00] [-1.10631152e-02 -6.35800538e-05 9.99938800e-01 -2.22838078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters 0.059063865233977796 Centerline is valid? [True, True] Translation: X:373.10, Y:7.80, Z:-2.23 [[ 9.99701528e-01 2.15200273e-02 1.15647336e-02 3.73102308e+02] [-2.15195699e-02 9.99768414e-01 -1.64004022e-04 7.80268503e+00] [-1.15655847e-02 -8.49130210e-05 9.99933113e-01 -2.22974566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7843914179999 meters 0.05905832083869537 Centerline is valid? [True, True] Translation: X:373.16, Y:7.79, Z:-2.24 [[ 9.99691530e-01 2.19698452e-02 1.15831740e-02 3.73159754e+02] [-2.19694276e-02 9.99758630e-01 -1.63312353e-04 7.79306655e+00] [-1.15839661e-02 -9.12137266e-05 9.99932899e-01 -2.23914579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84439141799993 meters 0.05835548221632307 Centerline is valid? [True, True] Translation: X:373.22, Y:7.80, Z:-2.24 [[ 9.99727074e-01 2.08987356e-02 1.04413126e-02 3.73218969e+02] [-2.08983415e-02 9.99781595e-01 -1.46863506e-04 7.79778570e+00] [-1.04421015e-02 -7.13826943e-05 9.99945477e-01 -2.23826464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90439141799993 meters 0.05854011235985286 Centerline is valid? [True, True] Translation: X:373.28, Y:7.80, Z:-2.24 [[ 9.99762387e-01 1.93125355e-02 1.01091783e-02 3.73276568e+02] [-1.93120880e-02 9.99813494e-01 -1.41896796e-04 7.80237909e+00] [-1.01100333e-02 -5.33662614e-05 9.99948891e-01 -2.23720293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96439141799993 meters 0.057377549618410024 Centerline is valid? [True, True] Translation: X:373.34, Y:7.81, Z:-2.24 [[ 9.99807547e-01 1.65200596e-02 1.05809625e-02 3.73335300e+02] [-1.65194165e-02 9.99863534e-01 -1.48178553e-04 7.80589339e+00] [-1.05819665e-02 -2.66412914e-05 9.99944009e-01 -2.24008203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02439141799994 meters 0.05723768570168322 Centerline is valid? [True, True] Translation: X:373.39, Y:7.81, Z:-2.24 [[ 9.99825968e-01 1.48234548e-02 1.13268733e-02 3.73394471e+02] [-1.48226128e-02 9.99890127e-01 -1.58289493e-04 7.81021133e+00] [-1.13279752e-02 -9.63191163e-06 9.99935836e-01 -2.24162597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08439141799994 meters 0.058386039839664845 Centerline is valid? [True, True] Translation: X:373.45, Y:7.81, Z:-2.23 [[ 9.99848622e-01 1.34262500e-02 1.10665388e-02 3.73453407e+02] [-1.34253639e-02 9.99909864e-01 -1.54356345e-04 7.81206969e+00] [-1.10676137e-02 5.76066891e-06 9.99938752e-01 -2.23252968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14439141799994 meters 0.057789382647649476 Centerline is valid? [True, True] Translation: X:373.51, Y:7.82, Z:-2.24 [[ 9.99895278e-01 1.06903481e-02 9.75444936e-03 3.73513011e+02] [-1.06895311e-02 9.99942856e-01 -1.35892543e-04 7.81766481e+00] [-9.75534469e-03 3.16078225e-05 9.99952415e-01 -2.24024602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20439141799994 meters 0.05741535514088632 Centerline is valid? [True, True] Translation: X:373.57, Y:7.82, Z:-2.24 [[ 9.99929611e-01 7.77267925e-03 8.96430204e-03 3.73572830e+02] [-7.77187258e-03 9.99969791e-01 -1.24818276e-04 7.82158292e+00] [-8.96500140e-03 5.51400767e-05 9.99959812e-01 -2.23902384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26439141799995 meters 0.05812404906609113 Centerline is valid? [True, True] Translation: X:373.63, Y:7.83, Z:-2.24 [[ 9.99942245e-01 4.41574255e-03 9.79838003e-03 3.73634391e+02] [-4.41461757e-03 9.99990246e-01 -1.36439125e-04 7.82559730e+00] [-9.79888694e-03 9.31751444e-05 9.99951985e-01 -2.24192457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32439141799995 meters 0.05807588790980663 Centerline is valid? [True, True] Translation: X:373.70, Y:7.83, Z:-2.24 [[ 9.99951908e-01 2.19309413e-03 9.55886667e-03 3.73696269e+02] [-2.19191781e-03 9.99997589e-01 -1.33535108e-04 7.82615206e+00] [-9.55913648e-03 1.12576436e-04 9.99954304e-01 -2.24287147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38439141799995 meters 0.057330601161035555 Centerline is valid? [True, True] Translation: X:373.76, Y:7.82, Z:-2.24 [[ 9.99951007e-01 2.89460976e-03 9.46599972e-03 3.73757867e+02] [-2.89348116e-03 9.99995805e-01 -1.32920188e-04 7.82136171e+00] [-9.46634476e-03 1.05523984e-04 9.99955188e-01 -2.24218523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44439141799995 meters 0.0563969867465094 Centerline is valid? [True, True] Translation: X:373.82, Y:7.82, Z:-2.24 [[ 9.99943784e-01 3.16349055e-03 1.01203334e-02 3.73819050e+02] [-3.16221163e-03 9.99994990e-01 -1.42370938e-04 7.81806266e+00] [-1.01207331e-02 1.10360298e-04 9.99948778e-01 -2.24233364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50439141799995 meters 0.05638163367244672 Centerline is valid? [True, True] Translation: X:373.88, Y:7.82, Z:-2.24 [[ 9.99944982e-01 1.57185980e-03 1.03712403e-02 3.73881141e+02] [-1.57042559e-03 9.99998756e-01 -1.46430044e-04 7.81623603e+00] [-1.03714575e-02 1.30134726e-04 9.99946207e-01 -2.24281686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56439141799996 meters 0.05802726577502239 Centerline is valid? [True, True] Translation: X:373.94, Y:7.82, Z:-2.25 [[ 9.99946153e-01 -2.56698467e-03 1.00549376e-02 3.73942035e+02] [ 2.56854766e-03 9.99996691e-01 -1.42534792e-04 7.82231385e+00] [-1.00545385e-02 1.68353703e-04 9.99949438e-01 -2.24599202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62439141799996 meters 0.05904208075798565 Centerline is valid? [True, True] Translation: X:374.00, Y:7.82, Z:-2.25 [[ 9.99943787e-01 -4.42748739e-03 9.63433168e-03 3.74003702e+02] [ 4.42901227e-03 9.99990183e-01 -1.36945291e-04 7.82092637e+00] [-9.63363077e-03 1.79608167e-04 9.99953579e-01 -2.24661508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68439141799996 meters 0.05777577419088266 Centerline is valid? [True, True] Translation: X:374.06, Y:7.81, Z:-2.25 [[ 9.99941233e-01 -4.89111599e-03 9.67506576e-03 3.74064874e+02] [ 4.89268409e-03 9.99988021e-01 -1.38412997e-04 7.81497157e+00] [-9.67427287e-03 1.85741903e-04 9.99953186e-01 -2.24616679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74439141799996 meters 0.05752015477805391 Centerline is valid? [True, True] Translation: X:374.13, Y:7.81, Z:-2.25 [[ 9.99925310e-01 -3.57193605e-03 1.16882536e-02 3.74126696e+02] [ 3.57414419e-03 9.99993599e-01 -1.68035857e-04 7.81435870e+00] [-1.16875786e-02 2.09798811e-04 9.99931676e-01 -2.24881373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80439141799997 meters 0.05743827931480445 Centerline is valid? [True, True] Translation: X:374.19, Y:7.81, Z:-2.25 [[ 9.99917922e-01 5.10016430e-04 1.28018874e-02 3.74188201e+02] [-5.07697661e-04 9.99999854e-01 -1.84376317e-04 7.80963914e+00] [-1.28019796e-02 1.77861695e-04 9.99918035e-01 -2.25146574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86439141799997 meters 0.05715427849596037 Centerline is valid? [True, True] Translation: X:374.25, Y:7.80, Z:-2.25 [[ 9.99913955e-01 6.21133048e-03 1.15543457e-02 3.74247858e+02] [-6.20982086e-03 9.99980705e-01 -1.66525634e-04 7.79965440e+00] [-1.15551571e-02 9.47608881e-05 9.99933232e-01 -2.25070952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters 0.05690435422891706 Centerline is valid? [True, True] Translation: X:374.31, Y:7.79, Z:-2.25 [[ 9.99869215e-01 1.16769571e-02 1.11893642e-02 3.74308853e+02] [-1.16758827e-02 9.99931822e-01 -1.61339466e-04 7.79309421e+00] [-1.11904852e-02 3.06726612e-05 9.99937384e-01 -2.25266209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters 0.05647495839156063 Centerline is valid? [True, True] Translation: X:374.37, Y:7.78, Z:-2.25 [[ 9.99664534e-01 2.32990465e-02 1.13125777e-02 3.74368066e+02] [-2.32986917e-02 9.99728535e-01 -1.63165594e-04 7.78146327e+00] [-1.13133084e-02 -1.00457404e-04 9.99935997e-01 -2.25265916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters 0.06117893698672225 Centerline is valid? [True, True] Translation: X:374.43, Y:7.77, Z:-2.26 [[ 9.99298753e-01 3.52201229e-02 1.27100244e-02 3.74427972e+02] [-3.52206398e-02 9.99379544e-01 -1.83229398e-04 7.76604463e+00] [-1.27085918e-02 -2.64554284e-04 9.99919208e-01 -2.25598968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters 0.060918055803425665 Centerline is valid? [True, True] Translation: X:374.49, Y:7.76, Z:-2.26 [[ 9.99032787e-01 4.19969377e-02 1.30287299e-02 3.74487036e+02] [-4.19980569e-02 9.99117675e-01 -1.87807309e-04 7.76294717e+00] [-1.30251217e-02 -3.59555680e-04 9.99915105e-01 -2.25501839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters 0.06292769699231766 Centerline is valid? [True, True] Translation: X:374.55, Y:7.76, Z:-2.26 [[ 9.98773851e-01 4.77797265e-02 1.29573232e-02 3.74547597e+02] [-4.77813192e-02 9.98857803e-01 -1.86803154e-04 7.75577644e+00] [-1.29514487e-02 -4.32543888e-04 9.99916033e-01 -2.25594753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters 0.06393944791164345 Centerline is valid? [True, True] Translation: X:374.61, Y:7.75, Z:-2.26 [[ 9.98748457e-01 4.84381549e-02 1.24605601e-02 3.74606638e+02] [-4.84396869e-02 9.98826093e-01 -1.79001478e-04 7.74852400e+00] [-1.24546030e-02 -4.24808179e-04 9.99922348e-01 -2.25741001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2843914179999 meters 0.06425201408235903 Centerline is valid? [True, True] Translation: X:374.67, Y:7.75, Z:-2.26 [[ 9.98833967e-01 4.69180270e-02 1.13756725e-02 3.74666245e+02] [-4.69192125e-02 9.98898674e-01 -1.62791199e-04 7.74734052e+00] [-1.13707820e-02 -3.71136217e-04 9.99935282e-01 -2.25701980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34439141799993 meters 0.06182174808554593 Centerline is valid? [True, True] Translation: X:374.73, Y:7.75, Z:-2.26 [[ 9.99028006e-01 4.26359786e-02 1.11899831e-02 3.74725467e+02] [-4.26368587e-02 9.99090623e-01 -1.60005768e-04 7.74912058e+00] [-1.11866292e-02 -3.17255485e-04 9.99937377e-01 -2.25567365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40439141799993 meters 0.06049914141370601 Centerline is valid? [True, True] Translation: X:374.79, Y:7.75, Z:-2.26 [[ 9.99286873e-01 3.56485039e-02 1.24470387e-02 3.74785564e+02] [-3.56490521e-02 9.99364355e-01 -1.77892413e-04 7.74961163e+00] [-1.24454684e-02 -2.65959576e-04 9.99922517e-01 -2.25770457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46439141799993 meters 0.05825028762272304 Centerline is valid? [True, True] Translation: X:374.84, Y:7.75, Z:-2.26 [[ 9.99522663e-01 2.84954142e-02 1.19355259e-02 3.74844807e+02] [-2.84954094e-02 9.99593909e-01 -1.70502225e-04 7.75355439e+00] [-1.19355375e-02 -1.69686859e-04 9.99928755e-01 -2.25747369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52439141799994 meters 0.057589853053788484 Centerline is valid? [True, True] Translation: X:374.90, Y:7.75, Z:-2.26 [[ 9.99646010e-01 2.36892727e-02 1.21108611e-02 3.74904764e+02] [-2.36889162e-02 9.99719363e-01 -1.72910980e-04 7.75410671e+00] [-1.21115585e-02 -1.14043402e-04 9.99926646e-01 -2.25970477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58439141799994 meters 0.05738267498596257 Centerline is valid? [True, True] Translation: X:374.96, Y:7.75, Z:-2.26 [[ 9.99689843e-01 2.17517491e-02 1.21276129e-02 3.74963898e+02] [-2.17512517e-02 9.99763399e-01 -1.72932275e-04 7.75444001e+00] [-1.21285050e-02 -9.09121210e-05 9.99926443e-01 -2.26020926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64439141799994 meters 0.056782626950808 Centerline is valid? [True, True] Translation: X:375.02, Y:7.76, Z:-2.26 [[ 9.99778935e-01 1.71089247e-02 1.22215726e-02 3.75022009e+02] [-1.71080774e-02 9.99853631e-01 -1.73877786e-04 7.75895960e+00] [-1.22227586e-02 -3.52482620e-05 9.99925299e-01 -2.25847581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70439141799994 meters 0.05676290070576418 Centerline is valid? [True, True] Translation: X:375.08, Y:7.76, Z:-2.26 [[ 9.99867087e-01 1.15881929e-02 1.14683104e-02 3.75081488e+02] [-1.15870869e-02 9.99932854e-01 -1.62880754e-04 7.76286816e+00] [-1.14694278e-02 2.99747961e-05 9.99934223e-01 -2.25931426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76439141799995 meters 0.056745744512131865 Centerline is valid? [True, True] Translation: X:375.14, Y:7.77, Z:-2.26 [[ 9.99938078e-01 5.66741592e-03 9.57713539e-03 3.75141564e+02] [-5.66637352e-03 9.99983937e-01 -1.35973527e-04 7.76890998e+00] [-9.57775217e-03 8.16974805e-05 9.99954129e-01 -2.25944025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82439141799995 meters 0.056860221095550126 Centerline is valid? [True, True] Translation: X:375.20, Y:7.77, Z:-2.26 [[ 9.99959113e-01 1.66452316e-03 8.88833568e-03 3.75202900e+02] [-1.66346557e-03 9.99998608e-01 -1.26378110e-04 7.77268546e+00] [-8.88853368e-03 1.11587502e-04 9.99960490e-01 -2.26014213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88439141799995 meters 0.056923196817950106 Centerline is valid? [True, True] Translation: X:375.27, Y:7.78, Z:-2.26 [[ 9.99958628e-01 5.05937878e-04 9.08222401e-03 3.75265059e+02] [-5.04780206e-04 9.99999864e-01 -1.29757478e-04 7.77937817e+00] [-9.08228843e-03 1.25167583e-04 9.99958747e-01 -2.26054494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94439141799995 meters 0.05585856823840168 Centerline is valid? [True, True] Translation: X:375.33, Y:7.78, Z:-2.26 [[ 9.99946268e-01 -8.44757465e-04 1.03319095e-02 3.75326733e+02] [ 8.46337406e-04 9.99999631e-01 -1.48547228e-04 7.78421363e+00] [-1.03317802e-02 1.57283527e-04 9.99946613e-01 -2.26091940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00439141799995 meters 0.05613336264744018 Centerline is valid? [True, True] Translation: X:375.39, Y:7.79, Z:-2.26 [[ 9.99941468e-01 -2.09105201e-03 1.06155121e-02 3.75388203e+02] [ 2.09279821e-03 9.99997798e-01 -1.53388931e-04 7.78540114e+00] [-1.06151680e-02 1.75596077e-04 9.99943642e-01 -2.26199947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06439141799996 meters 0.05689410792608457 Centerline is valid? [True, True] Translation: X:375.45, Y:7.78, Z:-2.26 [[ 9.99943458e-01 -1.64395367e-03 1.05060777e-02 3.75449708e+02] [ 1.64564626e-03 9.99998634e-01 -1.52463406e-04 7.78181489e+00] [-1.05058127e-02 1.69744073e-04 9.99944798e-01 -2.26285504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12439141799996 meters 0.056113826597183704 Centerline is valid? [True, True] Translation: X:375.51, Y:7.78, Z:-2.26 [[ 9.99940180e-01 -1.54759995e-03 1.08277914e-02 3.75511353e+02] [ 1.54939720e-03 9.99998787e-01 -1.57598476e-04 7.77775194e+00] [-1.08275343e-02 1.74365598e-04 9.99941365e-01 -2.26257005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18439141799996 meters 0.05597109216283393 Centerline is valid? [True, True] Translation: X:375.57, Y:7.78, Z:-2.26 [[ 9.99925574e-01 -4.55182345e-03 1.13193654e-02 3.75571998e+02] [ 4.55398539e-03 9.99989617e-01 -1.65227292e-04 7.77785824e+00] [-1.13184957e-02 2.16763219e-04 9.99935920e-01 -2.26353342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24439141799996 meters 0.055831785708869056 Centerline is valid? [True, True] Translation: X:375.63, Y:7.77, Z:-2.26 [[ 9.99905416e-01 -8.95466035e-03 1.04390223e-02 3.75632060e+02] [ 8.95674026e-03 9.99959876e-01 -1.52509204e-04 7.77109338e+00] [-1.04372377e-02 2.45994390e-04 9.99945500e-01 -2.26414031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30439141799997 meters 0.05580028326160093 Centerline is valid? [True, True] Translation: X:375.69, Y:7.77, Z:-2.26 [[ 9.99893736e-01 -1.09478219e-02 9.62611071e-03 3.75693421e+02] [ 1.09496844e-02 9.99940041e-01 -1.40798485e-04 7.76868802e+00] [-9.62399210e-03 2.46186398e-04 9.99953658e-01 -2.26490496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36439141799997 meters 0.05524433422124205 Centerline is valid? [True, True] Translation: X:375.75, Y:7.77, Z:-2.27 [[ 9.99857653e-01 -1.31272807e-02 1.05994155e-02 3.75754759e+02] [ 1.31296629e-02 9.99913790e-01 -1.55185273e-04 7.76566111e+00] [-1.05964646e-02 2.94329935e-04 9.99943813e-01 -2.26573757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters 0.055691138491806236 Centerline is valid? [True, True] Translation: X:375.82, Y:7.77, Z:-2.27 [[ 9.99823949e-01 -1.45489861e-02 1.18489338e-02 3.75815944e+02] [ 1.45520648e-02 9.99894098e-01 -1.73651429e-04 7.76723046e+00] [-1.18451525e-02 3.46047311e-04 9.99929784e-01 -2.26724283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters 0.05597109131874623 Centerline is valid? [True, True] Translation: X:375.88, Y:7.76, Z:-2.27 [[ 9.99803423e-01 -1.57014347e-02 1.21070018e-02 3.75877542e+02] [ 1.57047379e-02 9.99876657e-01 -1.77806196e-04 7.76426080e+00] [-1.21027167e-02 3.67908533e-04 9.99926692e-01 -2.26831361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters 0.057379269703061085 Centerline is valid? [True, True] Translation: X:375.94, Y:7.77, Z:-2.27 [[ 9.99761484e-01 -1.89957549e-02 1.07766249e-02 3.75938390e+02] [ 1.89985660e-02 9.99819498e-01 -1.58531515e-04 7.76544926e+00] [-1.07716682e-02 3.63234122e-04 9.99941918e-01 -2.27008792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters 0.056603711920012796 Centerline is valid? [True, True] Translation: X:376.00, Y:7.76, Z:-2.27 [[ 9.99708263e-01 -2.20020160e-02 9.96493501e-03 3.75998482e+02] [ 2.20045690e-02 9.99757859e-01 -1.46618989e-04 7.76013586e+00] [-9.95929618e-03 3.65850315e-04 9.99950338e-01 -2.27075699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters 0.05539405622604285 Centerline is valid? [True, True] Translation: X:376.06, Y:7.75, Z:-2.27 [[ 9.99661786e-01 -2.38601832e-02 1.03443124e-02 3.76058042e+02] [ 2.38630339e-02 9.99715226e-01 -1.52223766e-04 7.75042426e+00] [-1.03377346e-02 3.99018960e-04 9.99946485e-01 -2.26982505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters 0.054251763242043186 Centerline is valid? [True, True] Translation: X:376.12, Y:7.74, Z:-2.27 [[ 9.99609434e-01 -2.54580428e-02 1.15267943e-02 3.76118366e+02] [ 2.54616890e-02 9.99675784e-01 -1.69663030e-04 7.73862477e+00] [-1.15187378e-02 4.63088417e-04 9.99933550e-01 -2.26902793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7843914179999 meters 0.05498332323199431 Centerline is valid? [True, True] Translation: X:376.18, Y:7.74, Z:-2.27 [[ 9.99603641e-01 -2.54597861e-02 1.20149991e-02 3.76180932e+02] [ 2.54637554e-02 9.99675730e-01 -1.77469455e-04 7.73705557e+00] [-1.20065847e-02 4.83346113e-04 9.99927802e-01 -2.27079455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84439141799993 meters 0.0559881968903218 Centerline is valid? [True, True] Translation: X:376.24, Y:7.74, Z:-2.27 [[ 9.99591082e-01 -2.57285058e-02 1.24784623e-02 3.76242988e+02] [ 2.57328237e-02 9.99668839e-01 -1.85562313e-04 7.73951068e+00] [-1.24695557e-02 5.06592503e-04 9.99922124e-01 -2.27341078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90439141799993 meters 0.05444561658723654 Centerline is valid? [True, True] Translation: X:376.30, Y:7.73, Z:-2.27 [[ 9.99620716e-01 -2.49135648e-02 1.17361829e-02 3.76303154e+02] [ 2.49173353e-02 9.99689500e-01 -1.75130528e-04 7.72500455e+00] [-1.17281757e-02 4.67498509e-04 9.99931113e-01 -2.27213962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96439141799993 meters 0.055084123258152165 Centerline is valid? [True, True] Translation: X:376.37, Y:7.72, Z:-2.27 [[ 9.99627090e-01 -2.46347213e-02 1.17818614e-02 3.76365041e+02] [ 2.46385087e-02 9.99696410e-01 -1.76398842e-04 7.71899842e+00] [-1.17739390e-02 4.66620557e-04 9.99930576e-01 -2.27296071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02439141799994 meters 0.05532909318274435 Centerline is valid? [True, True] Translation: X:376.43, Y:7.73, Z:-2.28 [[ 9.99638579e-01 -2.42581246e-02 1.15868268e-02 3.76426938e+02] [ 2.42617753e-02 9.99705625e-01 -1.74595160e-04 7.72603183e+00] [-1.15791806e-02 4.55649047e-04 9.99932855e-01 -2.27550753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08439141799994 meters 0.05477434914237173 Centerline is valid? [True, True] Translation: X:376.49, Y:7.72, Z:-2.28 [[ 9.99649154e-01 -2.44733124e-02 1.01304924e-02 3.76487891e+02] [ 2.44761233e-02 9.99700403e-01 -1.53560344e-04 7.71741063e+00] [-1.01236992e-02 4.01461649e-04 9.99948673e-01 -2.27588866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14439141799994 meters 0.05540007239430954 Centerline is valid? [True, True] Translation: X:376.55, Y:7.72, Z:-2.28 [[ 9.99658499e-01 -2.42213299e-02 9.80879292e-03 3.76550524e+02] [ 2.42239596e-02 9.99706546e-01 -1.49360188e-04 7.71530564e+00] [-9.80229679e-03 3.86916985e-04 9.99951881e-01 -2.27711630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20439141799994 meters 0.05560551297758322 Centerline is valid? [True, True] Translation: X:376.61, Y:7.71, Z:-2.28 [[ 9.99649062e-01 -2.43300157e-02 1.04786883e-02 3.76611372e+02] [ 2.43330278e-02 9.99703895e-01 -1.60028339e-04 7.70732871e+00] [-1.04716920e-02 4.14950392e-04 9.99945084e-01 -2.27738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26439141799995 meters 0.05577313240766644 Centerline is valid? [True, True] Translation: X:376.67, Y:7.71, Z:-2.28 [[ 9.99659860e-01 -2.40895804e-02 9.99284105e-03 3.76673761e+02] [ 2.40923147e-02 9.99709726e-01 -1.53318552e-04 7.71162986e+00] [-9.98624701e-03 3.94017073e-04 9.99950059e-01 -2.27867128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32439141799995 meters 0.055193770831928515 Centerline is valid? [True, True] Translation: X:376.73, Y:7.70, Z:-2.28 [[ 9.99674014e-01 -2.36918198e-02 9.51650603e-03 3.76734499e+02] [ 2.36942905e-02 9.99719240e-01 -1.46946558e-04 7.69879437e+00] [-9.51035274e-03 3.72385514e-04 9.99954706e-01 -2.27846846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38439141799995 meters 0.05512891882500408 Centerline is valid? [True, True] Translation: X:376.80, Y:7.71, Z:-2.28 [[ 9.99724095e-01 -2.09735049e-02 1.05757437e-02 3.76795269e+02] [ 2.09764119e-02 9.99779957e-01 -1.64017605e-04 7.70521140e+00] [-1.05699765e-02 3.85813507e-04 9.99944062e-01 -2.28063667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44439141799995 meters 0.055985115773185004 Centerline is valid? [True, True] Translation: X:376.86, Y:7.71, Z:-2.28 [[ 9.99812314e-01 -1.63233797e-02 1.04347464e-02 3.76855567e+02] [ 1.63259574e-02 9.99866710e-01 -1.61890103e-04 7.70658465e+00] [-1.04307129e-02 3.32216943e-04 9.99945543e-01 -2.28037528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50439141799995 meters 0.056122622134037806 Centerline is valid? [True, True] Translation: X:376.92, Y:7.71, Z:-2.28 [[ 9.99838748e-01 -1.44742725e-02 1.06289272e-02 3.76917145e+02] [ 1.44768444e-02 9.99895191e-01 -1.65075954e-04 7.70586282e+00] [-1.06254239e-02 3.18922661e-04 9.99943498e-01 -2.28071361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56439141799996 meters 0.05645359320154213 Centerline is valid? [True, True] Translation: X:376.98, Y:7.70, Z:-2.28 [[ 9.99887640e-01 -1.06340993e-02 1.05652211e-02 3.76977128e+02] [ 1.06364285e-02 9.99943418e-01 -1.64296712e-04 7.69928223e+00] [-1.05628761e-02 2.76654470e-04 9.99944173e-01 -2.27931614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62439141799996 meters 0.05665758469588386 Centerline is valid? [True, True] Translation: X:377.04, Y:7.70, Z:-2.28 [[ 9.99938628e-01 -3.98542076e-03 1.03371122e-02 3.77037673e+02] [ 3.98729558e-03 9.99992038e-01 -1.60765886e-04 7.69978152e+00] [-1.03363892e-02 2.01973141e-04 9.99946558e-01 -2.28002743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68439141799996 meters 0.05634104095388089 Centerline is valid? [True, True] Translation: X:377.10, Y:7.70, Z:-2.28 [[ 9.99952838e-01 2.73089919e-03 9.32012045e-03 3.77098612e+02] [-2.72966682e-03 9.99996264e-01 -1.44944459e-04 7.70265430e+00] [-9.32048146e-03 1.19496800e-04 9.99956556e-01 -2.28056065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74439141799996 meters 0.056757975100506446 Centerline is valid? [True, True] Translation: X:377.16, Y:7.70, Z:-2.28 [[ 9.99913764e-01 9.82480995e-03 8.71421565e-03 3.77159131e+02] [-9.82400166e-03 9.99951734e-01 -1.35557089e-04 7.70354728e+00] [-8.71512687e-03 4.99369298e-05 9.99962021e-01 -2.28049486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80439141799997 meters 0.05772626053205582 Centerline is valid? [True, True] Translation: X:377.22, Y:7.71, Z:-2.28 [[ 9.99830947e-01 1.62314685e-02 8.63805364e-03 3.77219815e+02] [-1.62309127e-02 9.99868261e-01 -1.34449427e-04 7.70557903e+00] [-8.63909798e-03 -5.77679621e-06 9.99962682e-01 -2.28159685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86439141799997 meters 0.05783066691611208 Centerline is valid? [True, True] Translation: X:377.28, Y:7.71, Z:-2.28 [[ 9.99662899e-01 2.41267465e-02 9.59108928e-03 3.77278158e+02] [-2.41264258e-02 9.99708904e-01 -1.49156333e-04 7.71118235e+00] [-9.59189601e-03 -8.22926515e-05 9.99953993e-01 -2.28077052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters 0.05794268633169157 Centerline is valid? [True, True] Translation: X:377.34, Y:7.71, Z:-2.28 [[ 9.99472267e-01 3.06949722e-02 1.06304140e-02 3.77338684e+02] [-3.06949513e-02 9.99528785e-01 -1.65160420e-04 7.70855249e+00] [-1.06304744e-02 -1.61226781e-04 9.99943482e-01 -2.28288901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters 0.05799225633048529 Centerline is valid? [True, True] Translation: X:377.40, Y:7.71, Z:-2.28 [[ 9.99320539e-01 3.54562810e-02 1.00654468e-02 3.77398416e+02] [-3.54565035e-02 9.99371208e-01 -1.56395784e-04 7.71001097e+00] [-1.00646629e-02 -2.00596030e-04 9.99949330e-01 -2.28314418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters 0.05838461424608417 Centerline is valid? [True, True] Translation: X:377.46, Y:7.71, Z:-2.28 [[ 9.99263754e-01 3.69807730e-02 1.02162639e-02 3.77456039e+02] [-3.69810840e-02 9.99315953e-01 -1.58525058e-04 7.71208225e+00] [-1.02151379e-02 -2.19400170e-04 9.99947800e-01 -2.28296079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters 0.05841042577483292 Centerline is valid? [True, True] Translation: X:377.52, Y:7.71, Z:-2.28 [[ 9.99206435e-01 3.84134740e-02 1.05311440e-02 3.77515092e+02] [-3.84138915e-02 9.99261901e-01 -1.62698064e-04 7.71024216e+00] [-1.05296208e-02 -2.41973271e-04 9.99944533e-01 -2.28427121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters 0.05927067921651985 Centerline is valid? [True, True] Translation: X:377.57, Y:7.72, Z:-2.28 [[ 9.99211709e-01 3.84030060e-02 1.00582873e-02 3.77571943e+02] [-3.84033947e-02 9.99262306e-01 -1.54569832e-04 7.71639454e+00] [-1.00568033e-02 -2.31824390e-04 9.99949402e-01 -2.28442930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters 0.05846470804343994 Centerline is valid? [True, True] Translation: X:377.63, Y:7.71, Z:-2.29 [[ 9.99270694e-01 3.69304029e-02 9.70699741e-03 3.77630650e+02] [-3.69306995e-02 9.99317818e-01 -1.48757178e-04 7.71002839e+00] [-9.70586914e-03 -2.09837516e-04 9.99952875e-01 -2.28685208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2843914179999 meters 0.059338089466114984 Centerline is valid? [True, True] Translation: X:377.69, Y:7.71, Z:-2.29 [[ 9.99346994e-01 3.42734534e-02 1.14418240e-02 3.77688897e+02] [-3.42736948e-02 9.99412469e-01 -1.75039694e-04 7.71318616e+00] [-1.14411007e-02 -2.17228191e-04 9.99934525e-01 -2.28582802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34439141799993 meters 0.058338990151961194 Centerline is valid? [True, True] Translation: X:377.75, Y:7.71, Z:-2.29 [[ 9.99489859e-01 2.92061911e-02 1.29236602e-02 3.77749128e+02] [-2.92060784e-02 9.99573392e-01 -1.97488815e-04 7.70860464e+00] [-1.29239147e-02 -1.80061364e-04 9.99916467e-01 -2.28741916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40439141799993 meters 0.05874947656040388 Centerline is valid? [True, True] Translation: X:377.81, Y:7.71, Z:-2.29 [[ 9.99611029e-01 2.49366247e-02 1.24882420e-02 3.77808453e+02] [-2.49361883e-02 9.99689027e-01 -1.90681340e-04 7.70582100e+00] [-1.24891134e-02 -1.20801984e-04 9.99922001e-01 -2.28919842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46439141799993 meters 0.05843937807373509 Centerline is valid? [True, True] Translation: X:377.87, Y:7.70, Z:-2.29 [[ 9.99741999e-01 1.91804319e-02 1.21674170e-02 3.77866951e+02] [-1.91795944e-02 9.99816037e-01 -1.85522443e-04 7.70468179e+00] [-1.21687370e-02 -4.78915453e-05 9.99925957e-01 -2.28984183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52439141799994 meters 0.05808942626465061 Centerline is valid? [True, True] Translation: X:377.93, Y:7.71, Z:-2.29 [[ 9.99767486e-01 1.74951615e-02 1.26052652e-02 3.77925212e+02] [-1.74941330e-02 9.99846948e-01 -1.91857778e-04 7.70538872e+00] [-1.26066925e-02 -2.87050181e-05 9.99920532e-01 -2.28907401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58439141799994 meters 0.05849193642945502 Centerline is valid? [True, True] Translation: X:377.99, Y:7.71, Z:-2.29 [[ 9.99738144e-01 1.88598684e-02 1.29594972e-02 3.77985249e+02] [-1.88588996e-02 9.99822136e-01 -1.96968714e-04 7.70844707e+00] [-1.29609070e-02 -4.74847196e-05 9.99916003e-01 -2.28999913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64439141799994 meters 0.057540817948512936 Centerline is valid? [True, True] Translation: X:378.04, Y:7.71, Z:-2.30 [[ 9.99634922e-01 2.36577528e-02 1.30511845e-02 3.78043969e+02] [-2.36571915e-02 9.99720110e-01 -1.97413467e-04 7.71270181e+00] [-1.30522019e-02 -1.11412975e-04 9.99914810e-01 -2.29504629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70439141799994 meters 0.05753191872859843 Centerline is valid? [True, True] Translation: X:378.10, Y:7.72, Z:-2.30 [[ 9.99453387e-01 3.06410764e-02 1.24117323e-02 3.78103846e+02] [-3.06411156e-02 9.99530433e-01 -1.87052049e-04 7.71841698e+00] [-1.24116357e-02 -1.93359521e-04 9.99922954e-01 -2.29773758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76439141799995 meters 0.05871253718062529 Centerline is valid? [True, True] Translation: X:378.16, Y:7.73, Z:-2.30 [[ 9.99373994e-01 3.30284514e-02 1.26783991e-02 3.78162492e+02] [-3.30286865e-02 9.99454386e-01 -1.90899273e-04 7.72592497e+00] [-1.26777867e-02 -2.27971102e-04 9.99919608e-01 -2.29644461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82439141799995 meters 0.05811658817707649 Centerline is valid? [True, True] Translation: X:378.22, Y:7.72, Z:-2.30 [[ 9.99379070e-01 3.23646101e-02 1.39286223e-02 3.78221383e+02] [-3.23648352e-02 9.99476100e-01 -2.09301688e-04 7.72398096e+00] [-1.39280991e-02 -2.41625840e-04 9.99902970e-01 -2.29632922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88439141799995 meters 0.05837288482743694 Centerline is valid? [True, True] Translation: X:378.28, Y:7.72, Z:-2.30 [[ 9.99405619e-01 3.19433299e-02 1.29627324e-02 3.78279145e+02] [-3.19434955e-02 9.99489657e-01 -1.94318017e-04 7.72438269e+00] [-1.29623241e-02 -2.19872465e-04 9.99915961e-01 -2.29684496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94439141799995 meters 0.05763454792224259 Centerline is valid? [True, True] Translation: X:378.34, Y:7.72, Z:-2.30 [[ 9.99354235e-01 3.37507014e-02 1.23289743e-02 3.78337669e+02] [-3.37509942e-02 9.99430256e-01 -1.84371615e-04 7.71762062e+00] [-1.23281726e-02 -2.31862586e-04 9.99923978e-01 -2.30104505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00439141799995 meters 0.05931099150220561 Centerline is valid? [True, True] Translation: X:378.40, Y:7.73, Z:-2.30 [[ 9.98982815e-01 4.34038393e-02 1.22246811e-02 3.78397489e+02] [-4.34048515e-02 9.99057549e-01 -1.82624269e-04 7.72679300e+00] [-1.22210866e-02 -3.48171963e-04 9.99925259e-01 -2.30058786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06439141799996 meters 0.05978713915761234 Centerline is valid? [True, True] Translation: X:378.46, Y:7.72, Z:-2.30 [[ 9.98302928e-01 5.62316907e-02 1.51413561e-02 3.78457813e+02] [-5.62347171e-02 9.98417551e-01 -2.26143180e-04 7.72473604e+00] [-1.51301121e-02 -6.25710478e-04 9.99885338e-01 -2.29942244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12439141799996 meters 0.05774972251891334 Centerline is valid? [True, True] Translation: X:378.52, Y:7.71, Z:-2.30 [[ 9.97843756e-01 6.37844880e-02 1.54718169e-02 3.78517412e+02] [-6.37885553e-02 9.97963410e-01 -2.30967103e-04 7.71266399e+00] [-1.54550392e-02 -7.56455765e-04 9.99880278e-01 -2.30225880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18439141799996 meters 0.06021598361051607 Centerline is valid? [True, True] Translation: X:378.58, Y:7.73, Z:-2.30 [[ 9.97398808e-01 7.06981790e-02 1.40493604e-02 3.78577371e+02] [-7.07022169e-02 9.97497445e-01 -2.09695226e-04 7.72514447e+00] [-1.40290262e-02 -7.84171159e-04 9.99901281e-01 -2.30303081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4473.35 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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148.62it/s] 12340it [01:20, 149.49it/s] 12356it [01:21, 151.21it/s] 12373it [01:21, 154.56it/s] 12389it [01:21, 150.65it/s] 12405it [01:21, 151.74it/s] 12421it [01:21, 152.42it/s] 12437it [01:21, 154.21it/s] 12454it [01:21, 157.16it/s] 12471it [01:21, 158.27it/s] 12487it [01:21, 157.71it/s] 12503it [01:21, 157.77it/s] 12520it [01:22, 159.08it/s] 12536it [01:22, 158.98it/s] 12552it [01:22, 158.27it/s] 12568it [01:22, 157.53it/s] 12584it [01:22, 157.30it/s] 12600it [01:22, 157.77it/s] 12608it [01:22, 152.60it/s] Writing Lidar 2D slices PTD file in binary format... Completed! Making a constant density centerline ... Completed! Writing the SLAM model ... Completed!